adhoc

completed
2026-09-22T22:19:53.501870+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
359.5 s
total steps
427
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Place all the objects into the safe, then close the safe.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteTop view shows an open safe (red interior) in the middle, a yellow lemon to its right, a teddy bear in front, and a small doll to the left. I'm flying the right arm above my estimated lemon position to check alignment in its wrist camera.
move_to
right_x0.4000right_y0.1200right_z0.2000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7925, 0.6044, -0.3885, -0.0193, -0.0341, 0.9993, -0.0212, 0.7937, 0.6067, -0.4034, -0.02, -0.0261, 0.9996] state[eef_state]: left_x=0.2936 left_y=0.0014 left_z=0.1788 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2919 right_y=0.0009 right_z=0.1765 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.3897, -1.4017, 10.2222, 1.9951, -0.0855, 0.1832, -0.0855, -0.3897, -1.4701, 9.6752, 2.0733, -0.0513, 0.1001, -0.0562] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.12, "right_z": 0.2, "right_gripper": 1}, "note": "Top view shows an open safe (red interior) in the middle, a yellow lemon to its right, a teddy bear in front, and a small doll to the left. I'm flying the right arm above my estimated lemon position to check alignment in its wrist camera."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteLemon is now nicely on the jaw column in the right wrist view but still farther out than the fingertips; advancing ~5 cm radially and descending to 12 cm to get above it.
move_to
right_x0.4400right_y0.1250right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4061, -0.0193, -0.0383, 0.9992, 0.4206, 1.3727, 0.9745, -0.3161, 0.3103, 0.1959, 0.9996] state[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1751 left_yaw=0.0023 left_pitch=-0.0194 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3832 right_y=0.1162 right_z=0.1752 right_yaw=0.0443 right_pitch=-0.0838 right_roll=-0.0396 right_gripper=0.9996 state[joint_eff]: [0.0615, -1.4427, 7.0906, 1.8535, -0.0122, -0.0269, -0.022, 0.2393, -5.8462, 9.2786, 1.9805, 0.2955, 0.2027, -0.0562] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.125, "right_z": 0.12}, "note": "Lemon is now nicely on the jaw column in the right wrist view but still farther out than the fingertips; advancing ~5 cm radially and descending to 12 cm to get above it."})
tool
executing move_to over 5 steps (0.5s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteLemon is just left of and below the jaw column; nudging 2 cm toward +y and a few cm further out while descending near the table to straddle it.
move_to
right_x0.4600right_y0.1400right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8005, 0.6067, -0.4114, -0.0193, -0.0387, 0.9992, 0.3767, 1.6325, 0.9829, -0.1535, 0.2794, 0.168, 0.9996] state[eef_state]: left_x=0.2912 left_y=0.0015 left_z=0.173 left_yaw=0.0025 left_pitch=-0.0286 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4205 right_y=0.1178 right_z=0.1026 right_yaw=0.037 right_pitch=-0.1753 right_roll=-0.0721 right_gripper=0.9996 state[joint_eff]: [-0.1709, -0.9915, 7.1863, 1.7753, -0.0171, -0.0659, -0.0122, -0.4444, -7.8427, 8.1573, 1.956, 0.1099, 0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.14, "right_z": 0.03}, "note": "Lemon is just left of and below the jaw column; nudging 2 cm toward +y and a few cm further out while descending near the table to straddle it."})
tool
executing move_to over 5 steps (0.5s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe previous move was clamped and the arm only crept forward; re-sending the same target to finish descending over the lemon.
move_to
right_x0.4600right_y0.1400right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8013, 0.6067, -0.4232, -0.0193, -0.0387, 0.9992, 0.3752, 1.6573, 0.9829, -0.1089, 0.2718, 0.1577, 0.9996] state[eef_state]: left_x=0.2896 left_y=0.0015 left_z=0.1704 left_yaw=0.0025 left_pitch=-0.0412 left_roll=-0.003 left_gripper=0.9992 right_x=0.4273 right_y=0.1212 right_z=0.0995 right_yaw=0.0486 right_pitch=-0.1587 right_roll=-0.0679 right_gripper=0.9996 state[joint_eff]: [-0.0615, -1.347, 7.1863, 1.917, -0.0317, -0.0464, -0.0122, -0.4855, -8.4718, 8.1573, 2.0147, 0.0611, 0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.14, "right_z": 0.02}, "note": "The previous move was clamped and the arm only crept forward; re-sending the same target to finish descending over the lemon."})
tool
executing move_to over 6 steps (0.6s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe arm has stopped tracking (pose unchanged over two moves); trying a pure descent to see whether height alone can be commanded here.
move_to
right_z0.0500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8017, 0.6067, -0.4286, -0.0193, -0.0387, 0.9992, 0.3756, 1.6573, 0.9829, -0.1089, 0.2722, 0.1577, 0.9996] state[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1692 left_yaw=0.0025 left_pitch=-0.0469 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4272 right_y=0.1213 right_z=0.0995 right_yaw=0.0487 right_pitch=-0.1587 right_roll=-0.0681 right_gripper=0.9996 state[joint_eff]: [-0.0205, -1.1282, 7.2, 1.7216, -0.0171, -0.0464, -0.0122, -0.3214, -8.5812, 8.1026, 2.0195, 0.0904, 0.0073, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.05}, "note": "The arm has stopped tracking (pose unchanged over two moves); trying a pure descent to see whether height alone can be commanded here."})
tool
executing move_to over 4 steps (0.4s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteLemon now fills the lower wrist view slightly left of centre; creeping 2 cm forward, 1 cm toward +y and down to table level to straddle it with the jaws.
move_to
right_x0.4400right_y0.1300right_z0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.3763, 1.75, 0.8806, 0.0139, 0.2707, 0.1574, 0.9996] state[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1676 left_yaw=0.0025 left_pitch=-0.0545 left_roll=-0.0027 left_gripper=0.9992 right_x=0.4147 right_y=0.1169 right_z=0.0421 right_yaw=0.0464 right_pitch=-0.2273 right_roll=-0.091 right_gripper=0.9996 state[joint_eff]: [-0.2393, -1.306, 7.0632, 1.7509, -0.0464, -0.0513, -0.0122, -0.1299, -7.9385, 6.6667, 2.0195, 0.0952, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.13, "right_z": 0.0}, "note": "Lemon now fills the lower wrist view slightly left of centre; creeping 2 cm forward, 1 cm toward +y and down to table level to straddle it with the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe arm has stopped descending (likely contact) but the lemon sits centred between the jaws in the wrist view; closing the gripper to grasp it at mid-height.
move_to
right_gripper0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4507, -0.0193, -0.0387, 0.9992, 0.3782, 1.7638, 0.87, 0.0547, 0.2691, 0.157, 0.9996] state[eef_state]: left_x=0.2857 left_y=0.0016 left_z=0.1644 left_yaw=0.0025 left_pitch=-0.0705 left_roll=-0.0023 left_gripper=0.9992 right_x=0.4171 right_y=0.119 right_z=0.039 right_yaw=0.0509 right_pitch=-0.2121 right_roll=-0.0848 right_gripper=0.9996 state[joint_eff]: [-0.1573, -1.2923, 6.9812, 1.8828, -0.0415, -0.0024, -0.0122, -0.3624, -8.3761, 6.2564, 1.8974, 0.0904, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.2}, "note": "The arm has stopped descending (likely contact) but the lemon sits centred between the jaws in the wrist view; closing the gripper to grasp it at mid-height."})
tool
executing move_to over 8 steps (0.8s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteGripper closed to 0.2 without stalling, which suggests it may not be holding the lemon; lifting 10 cm to check in the overhead view whether the lemon came with the jaws.
move_to
right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.458, -0.0189, -0.0387, 0.9992, 0.3782, 1.7615, 0.8703, 0.0994, 0.2718, 0.1467, 0.2053] state[eef_state]: left_x=0.2846 left_y=0.0015 left_z=0.163 left_yaw=0.0022 left_pitch=-0.0778 left_roll=-0.0024 left_gripper=0.9992 right_x=0.4247 right_y=0.1216 right_z=0.0476 right_yaw=0.0574 right_pitch=-0.1671 right_roll=-0.0788 right_gripper=0.2053 state[joint_eff]: [-0.1162, -1.2513, 6.9675, 1.746, -0.0806, -0.0659, -0.0122, -0.1162, -8.1436, 6.4889, 1.453, 0.149, 0.0855, 0.1587] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.15}, "note": "Gripper closed to 0.2 without stalling, which suggests it may not be holding the lemon; lifting 10 cm to check in the overhead view whether the lemon came with the jaws."})
tool
executing move_to over 7 steps (0.7s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteLemon is still on the table — the close missed it. Reopening and moving 2 cm further out and back down to table level for another attempt.
move_to
right_gripper1.0000right_x0.4450right_y0.1250right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4587, -0.0193, -0.0387, 0.9992, 0.3782, 1.6176, 1.0878, -0.2966, 0.2684, 0.1383, 0.2037] state[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1628 left_yaw=0.0026 left_pitch=-0.0786 left_roll=-0.0022 left_gripper=0.9992 right_x=0.4221 right_y=0.1212 right_z=0.127 right_yaw=0.063 right_pitch=-0.2013 right_roll=-0.0935 right_gripper=0.2037 state[joint_eff]: [-0.0479, -1.2513, 6.9675, 1.6679, -0.0855, -0.0464, -0.0122, -0.294, -9.5111, 8.759, 1.6874, 0.0952, 0.0366, -0.1783] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.445, "right_y": 0.125, "right_z": 0.02}, "note": "Lemon is still on the table \u2014 the close missed it. Reopening and moving 2 cm further out and back down to table level for another attempt."})
tool
executing move_to over 8 steps (0.8s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteLemon now sits squarely between the open jaws at table level; closing fully to grasp it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4732, -0.0193, -0.0387, 0.9992, 0.3634, 1.8717, 0.9569, 0.0391, 0.2581, 0.1226, 0.9944] state[eef_state]: left_x=0.2823 left_y=0.0017 left_z=0.16 left_yaw=0.0026 left_pitch=-0.093 left_roll=-0.0018 left_gripper=0.9992 right_x=0.435 right_y=0.121 right_z=0.0217 right_yaw=0.062 right_pitch=-0.2513 right_roll=-0.1123 right_gripper=0.9944 state[joint_eff]: [-0.1846, -1.2103, 6.9538, 1.79, -0.0464, -0.0415, -0.0122, 0.0889, -7.9248, 4.9983, 1.5946, 0.1343, 0.0464, -0.0855] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Lemon now sits squarely between the open jaws at table level; closing fully to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteGripper settled at 0.52 (~5 cm), so the lemon is grasped; lifting it to 22 cm to clear the safe walls.
move_to
right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 0.3603, 1.8927, 0.9489, 0.0277, 0.2501, 0.1196, 0.5193] state[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1587 left_yaw=0.0023 left_pitch=-0.0999 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4285 right_y=0.1186 right_z=0.008 right_yaw=0.0641 right_pitch=-0.292 right_roll=-0.1205 right_gripper=0.5193 state[joint_eff]: [-0.0752, -1.2103, 7.1453, 1.707, -0.0464, -0.0366, -0.0122, 0.1299, -10.7692, 6.1197, 1.4823, 0.1148, -0.0269, 1.033] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22}, "note": "Gripper settled at 0.52 (~5 cm), so the lemon is grasped; lifting it to 22 cm to clear the safe walls."})
tool
executing move_to over 14 steps (1.4s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteCarrying the lemon at 20 cm; translating left over the open safe's interior (estimated right_y≈0.26) before lowering it in.
move_to
right_x0.4500right_y0.2600right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4953, -0.0193, -0.0387, 0.9992, 0.3603, 1.6852, 1.5211, -0.7887, 0.2466, 0.112, 0.5199] state[eef_state]: left_x=0.2788 left_y=0.0017 left_z=0.1558 left_yaw=0.0026 left_pitch=-0.1152 left_roll=-0.0014 left_gripper=0.9992 right_x=0.4271 right_y=0.1187 right_z=0.1969 right_yaw=0.068 right_pitch=-0.3284 right_roll=-0.1338 right_gripper=0.5199 state[joint_eff]: [-0.1709, -1.0735, 6.9538, 1.8242, -0.0464, -0.0513, -0.0122, -0.3077, -9.1692, 9.1556, 1.5653, 0.0952, 0.0073, 0.7497] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.26, "right_z": 0.22}, "note": "Carrying the lemon at 20 cm; translating left over the open safe's interior (estimated right_y\u22480.26) before lowering it in."})
tool
executing move_to over 12 steps (1.2s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteWrist view shows the red safe interior ahead; lowering the lemon to 13 cm, just above the safe's interior floor, before releasing.
move_to
right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5117, -0.0193, -0.0383, 0.9992, 0.6453, 2.1021, 2.1654, -1.1183, 0.3809, 0.3279, 0.5225] state[eef_state]: left_x=0.2762 left_y=0.0018 left_z=0.1527 left_yaw=0.0025 left_pitch=-0.1316 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4447 right_y=0.2571 right_z=0.2115 right_yaw=0.1019 right_pitch=-0.3593 right_roll=-0.1513 right_gripper=0.5225 state[joint_eff]: [-0.0205, -1.1966, 6.9538, 1.7998, -0.0708, -0.0269, -0.0122, 0.253, -11.1248, 8.0889, 1.1306, 0.2515, 0.3053, 0.5299] camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.13}, "note": "Wrist view shows the red safe interior ahead; lowering the lemon to 13 cm, just above the safe's interior floor, before releasing."})
tool
executing move_to over 6 steps (0.6s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteGripper is inside the safe's red interior; opening to drop the lemon in.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6067, -0.519, -0.0189, -0.0387, 0.9992, 0.6468, 2.0739, 1.776, -0.8574, 0.3767, 0.329, 0.5246] state[eef_state]: left_x=0.2751 left_y=0.0017 left_z=0.1511 left_yaw=0.0024 left_pitch=-0.1396 left_roll=-0.0011 left_gripper=0.9992 right_x=0.4309 right_y=0.2485 right_z=0.1145 right_yaw=0.0835 right_pitch=-0.4466 right_roll=-0.2044 right_gripper=0.5246 state[joint_eff]: [-0.1299, -0.9915, 6.9538, 1.6484, -0.0513, -0.0269, -0.0122, -0.1983, -13.2171, 7.1726, 1.3455, 0.2027, -0.0513, 0.4518] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "Gripper is inside the safe's red interior; opening to drop the lemon in."})
tool
executing move_to over 5 steps (0.5s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteLemon is in the safe; raising the right arm out of the box before going for the teddy bear in front of the safe.
move_to
right_z0.2800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6067, -0.5255, -0.0193, -0.0383, 0.9992, 0.6468, 2.0739, 1.755, -0.8585, 0.3767, 0.3187, 0.9947] state[eef_state]: left_x=0.274 left_y=0.0018 left_z=0.1499 left_yaw=0.0025 left_pitch=-0.1461 left_roll=-0.0004 left_gripper=0.9992 right_x=0.4268 right_y=0.2454 right_z=0.1071 right_yaw=0.0839 right_pitch=-0.4665 right_roll=-0.2234 right_gripper=0.9947 state[joint_eff]: [-0.0479, -1.1966, 6.9128, 1.6337, -0.0806, -0.0122, -0.0122, -0.3624, -11.4393, 8.0342, 0.9402, 0.1392, 0.0659, -0.0415] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.28}, "note": "Lemon is in the safe; raising the right arm out of the box before going for the teddy bear in front of the safe."})
tool
executing move_to over 12 steps (1.2s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteLemon is safely inside the red compartment. Now moving the right arm back toward the base over the teddy bear that sits in front of the safe, to line it up in the wrist view.
move_to
right_x0.3000right_y0.2800right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6067, -0.54, -0.0189, -0.0383, 0.9992, 0.6445, 2.2608, 2.6266, -1.5585, 0.3698, 0.3138, 0.9953] state[eef_state]: left_x=0.2716 left_y=0.0018 left_z=0.1473 left_yaw=0.0022 left_pitch=-0.1606 left_roll=-0.0003 left_gripper=0.9992 right_x=0.4215 right_y=0.2414 right_z=0.2412 right_yaw=0.0858 right_pitch=-0.4834 right_roll=-0.2292 right_gripper=0.9953 state[joint_eff]: [-0.1162, -1.1692, 6.9675, 1.7118, -0.0269, -0.0366, -0.0122, -0.7043, -15.2684, 5.4222, 1.0281, 0.2125, -0.1148, 0.0513] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.28, "right_z": 0.2}, "note": "Lemon is safely inside the red compartment. Now moving the right arm back toward the base over the teddy bear that sits in front of the safe, to line it up in the wrist view."})
tool
executing move_to over 10 steps (1.0s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteThe last move was clamped and the arm hardly retracted; re-sending the same target (with pitch reset to 0) to bring the gripper back over the teddy bear.
move_to
right_x0.3000right_y0.2800right_z0.2000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5411, -0.0193, -0.0383, 0.9992, 0.672, 2.257, 2.5931, -1.5951, 0.3698, 0.3191, 0.9954] state[eef_state]: left_x=0.2716 left_y=0.0019 left_z=0.1461 left_yaw=0.0026 left_pitch=-0.1655 left_roll=0.0 left_gripper=0.9992 right_x=0.4059 right_y=0.2459 right_z=0.2304 right_yaw=0.0899 right_pitch=-0.5386 right_roll=-0.2674 right_gripper=0.9954 state[joint_eff]: [-0.0479, -1.5111, 6.8991, 1.5946, -0.0855, -0.0269, -0.0122, -0.4444, -14.2701, 5.3675, 1.0574, 0.2515, 0.1245, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.28, "right_z": 0.2, "right_pitch": 0}, "note": "The last move was clamped and the arm hardly retracted; re-sending the same target (with pitch reset to 0) to bring the gripper back over the teddy bear."})
tool
executing move_to over 18 steps (1.8s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteThe bear's head appears at the very bottom of the wrist view, meaning it is still nearer the base than the fingertips; retracting 4 cm and descending to 10 cm.
move_to
right_x0.2600right_y0.2800right_z0.1000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5591, -0.0189, -0.0387, 0.9992, 1.071, 1.6779, 1.335, -0.7517, 0.8276, 0.5362, 0.9954] state[eef_state]: left_x=0.2686 left_y=0.0019 left_z=0.1424 left_yaw=0.0025 left_pitch=-0.1853 left_roll=-0.0001 left_gripper=0.9992 right_x=0.296 right_y=0.2782 right_z=0.1802 right_yaw=0.1212 right_pitch=-0.0912 right_roll=-0.3265 right_gripper=0.9954 state[joint_eff]: [-0.0479, -1.1692, 7.0359, 1.746, -0.022, -0.0171, -0.0122, 0.2667, -10.0444, 7.0222, 1.3944, 0.6276, 0.1294, -0.0171] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.26, "right_y": 0.28, "right_z": 0.1, "right_pitch": 0}, "note": "The bear's head appears at the very bottom of the wrist view, meaning it is still nearer the base than the fingertips; retracting 4 cm and descending to 10 cm."})
tool
executing move_to over 6 steps (0.6s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteBear occupies the lower-left of the wrist view, so shifting ~3 cm toward +y and dropping to 5 cm, straightening pitch/roll, to get the jaws over its body.
move_to
right_x0.2500right_y0.3100right_z0.0500right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8124, 0.6067, -0.5667, -0.0189, -0.0383, 0.9992, 1.19, 1.7088, 1.021, -0.5095, 0.9096, 0.6277, 0.9954] state[eef_state]: left_x=0.2674 left_y=0.0019 left_z=0.1404 left_yaw=0.0024 left_pitch=-0.1956 left_roll=0.0004 left_gripper=0.9992 right_x=0.2557 right_y=0.2733 right_z=0.0982 right_yaw=0.1482 right_pitch=-0.0667 right_roll=-0.3814 right_gripper=0.9954 state[joint_eff]: [-0.0752, -1.4291, 6.8718, 1.6581, -0.0366, -0.0415, -0.0122, 0.1573, -6.9402, 6.106, 1.2381, 0.7839, 0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.25, "right_y": 0.31, "right_z": 0.05, "right_pitch": 0, "right_roll": 0}, "note": "Bear occupies the lower-left of the wrist view, so shifting ~3 cm toward +y and dropping to 5 cm, straightening pitch/roll, to get the jaws over its body."})
tool
executing move_to over 5 steps (0.5s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteThe bear's fur fills the bottom of the wrist view between the jaws; closing fully to grip it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8127, 0.6067, -0.5816, -0.0193, -0.0383, 0.9992, 1.2045, 1.7618, 0.8341, -0.1291, 0.8268, 0.728, 0.9954] state[eef_state]: left_x=0.2648 left_y=0.002 left_z=0.1377 left_yaw=0.0028 left_pitch=-0.2109 left_roll=0.001 left_gripper=0.9992 right_x=0.2463 right_y=0.2893 right_z=0.046 right_yaw=0.1532 right_pitch=-0.047 right_roll=-0.1419 right_gripper=0.9954 state[joint_eff]: [-0.1026, -1.2103, 6.8444, 1.6532, -0.0317, -0.0366, -0.0122, 0.3624, -6.8171, 5.8735, 1.3211, 0.3883, 0.0904, -0.0122] camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "The bear's fur fills the bottom of the wrist view between the jaws; closing fully to grip it."})
tool
executing move_to over 10 steps (1.0s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteGripper closed to nearly zero (fur compresses), so I'm lifting to see whether the bear came up with the jaws.
move_to
right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.585, -0.0189, -0.0383, 0.9992, 1.2053, 1.7756, 0.8185, -0.0113, 0.7982, 0.7605, 0.0093] state[eef_state]: left_x=0.2642 left_y=0.0019 left_z=0.1367 left_yaw=0.0025 left_pitch=-0.2159 left_roll=0.0008 left_gripper=0.9992 right_x=0.2483 right_y=0.3048 right_z=0.0455 right_yaw=0.1542 right_pitch=-0.0227 right_roll=-0.0266 right_gripper=0.0093 state[joint_eff]: [-0.0068, -1.1692, 6.8444, 1.5311, -0.0855, -0.022, -0.0122, 0.3214, -7.5692, 5.641, 1.4676, 0.398, 0.0562, 0.7595] camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.16}, "note": "Gripper closed to nearly zero (fur compresses), so I'm lifting to see whether the bear came up with the jaws."})
tool
executing move_to over 8 steps (0.8s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteThe bear did not lift — the jaws only pinched top fur. Opening and descending to table level so the jaws straddle its body/limb rather than its fur.
move_to
right_z0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5854, -0.0189, -0.0387, 0.9992, 1.2049, 1.5982, 1.0527, -0.4572, 0.7849, 0.7593, 0.0112] state[eef_state]: left_x=0.2642 left_y=0.0019 left_z=0.1366 left_yaw=0.0027 left_pitch=-0.2162 left_roll=0.0006 left_gripper=0.9992 right_x=0.2466 right_y=0.3047 right_z=0.1358 right_yaw=0.161 right_pitch=-0.0495 right_roll=-0.0517 right_gripper=0.0112 state[joint_eff]: [-0.0205, -1.2103, 6.8444, 1.4969, -0.0513, -0.0659, -0.0073, -0.1299, -9.6205, 8.5949, 1.3504, 0.4274, -0.0269, 0.1832] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.0, "right_gripper": 1}, "note": "The bear did not lift \u2014 the jaws only pinched top fur. Opening and descending to table level so the jaws straddle its body/limb rather than its fur."})
tool
executing move_to over 10 steps (1.0s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteJaws are now down at table level amid the bear's body; closing fully to pinch a solid part of it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5888, -0.0189, -0.0387, 0.9992, 1.2041, 1.879, 0.8005, 0.0685, 0.7933, 0.7635, 0.9946] state[eef_state]: left_x=0.2636 left_y=0.0019 left_z=0.136 left_yaw=0.0027 left_pitch=-0.2197 left_roll=0.0007 left_gripper=0.9992 right_x=0.2475 right_y=0.3034 right_z=0.0119 right_yaw=0.1529 right_pitch=-0.0469 right_roll=-0.0582 right_gripper=0.9946 state[joint_eff]: [-0.0068, -1.1966, 7.2, 1.5507, -0.0806, -0.0415, -0.0122, -0.0342, -6.3248, 3.8496, 0.8913, 0.2222, -0.1587, -0.149] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Jaws are now down at table level amid the bear's body; closing fully to pinch a solid part of it."})
tool
executing move_to over 10 steps (1.0s)
step 192
top_cam
camera top_cam step 192
left_cam
camera left_cam step 192
right_cam
camera right_cam step 192
assistant
agent noteGripper settled at 0.11, so it has a pinch of the bear; lifting to 20 cm to see if the bear comes up.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5892, -0.0189, -0.0383, 0.9992, 1.2041, 1.8904, 0.7929, 0.0845, 0.7891, 0.7601, 0.1105] state[eef_state]: left_x=0.2635 left_y=0.0019 left_z=0.136 left_yaw=0.0025 left_pitch=-0.2201 left_roll=0.0009 left_gripper=0.9992 right_x=0.2467 right_y=0.3027 right_z=0.007 right_yaw=0.157 right_pitch=-0.0516 right_roll=-0.0618 right_gripper=0.1105 state[joint_eff]: [-0.0752, -1.1966, 6.9538, 1.4921, -0.0464, -0.0269, -0.0073, -0.3761, -9.2376, 5.4085, 0.9597, 0.3736, 0.0171, 0.6764] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2}, "note": "Gripper settled at 0.11, so it has a pinch of the bear; lifting to 20 cm to see if the bear comes up."})
tool
executing move_to over 13 steps (1.3s)
step 205
top_cam
camera top_cam step 205
assistant
agent notePossibly holding the bear by a pinch of fur; moving up and forward toward the open safe to see whether the bear travels with the gripper.
move_to
right_x0.3600right_y0.3000right_z0.2600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5926, -0.0189, -0.0383, 0.9992, 1.2041, 1.5883, 1.227, -0.691, 0.7692, 0.7597, 0.1116] state[eef_state]: left_x=0.2629 left_y=0.002 left_z=0.1354 left_yaw=0.0025 left_pitch=-0.2235 left_roll=0.001 left_gripper=0.9992 right_x=0.2449 right_y=0.3051 right_z=0.1745 right_yaw=0.1656 right_pitch=-0.0861 right_roll=-0.0876 right_gripper=0.1116 state[joint_eff]: [-0.0615, -1.1829, 7.0085, 1.5409, -0.0659, -0.0562, -0.0122, -0.1573, -9.4017, 8.5265, 1.1355, 0.5592, -0.0122, 0.105] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.3, "right_z": 0.26}, "note": "Possibly holding the bear by a pinch of fur; moving up and forward toward the open safe to see whether the bear travels with the gripper."})
tool
executing move_to over 9 steps (0.9s)
step 214
assistant
agent noteThe bear is indeed being carried and now hangs just in front of the safe; moving further out to centre it over the red interior.
move_to
right_x0.4400right_y0.2700right_z0.2600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.6052, -0.0189, -0.0383, 0.9992, 0.9096, 1.7466, 1.6707, -0.8326, 0.5964, 0.4679, 0.1131] state[eef_state]: left_x=0.2607 left_y=0.002 left_z=0.1328 left_yaw=0.0026 left_pitch=-0.238 left_roll=0.0013 left_gripper=0.9992 right_x=0.3506 right_y=0.2949 right_z=0.2428 right_yaw=0.1523 right_pitch=-0.1246 right_roll=-0.1099 right_gripper=0.1131 state[joint_eff]: [-0.1709, -1.3607, 6.8308, 1.6825, -0.0611, -0.0415, -0.0122, -0.1983, -8.6906, 8.5812, 1.5067, 0.3248, -0.0171, 0.1343] camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.27, "right_z": 0.26}, "note": "The bear is indeed being carried and now hangs just in front of the safe; moving further out to centre it over the red interior."})
tool
executing move_to over 7 steps (0.7s)
step 221
assistant
agent noteThe bear now hangs over the red interior; lowering slightly and opening the jaws to drop it into the safe.
move_to
right_z0.1900right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.6113, -0.0189, -0.0387, 0.9992, 0.7082, 1.9079, 1.8999, -0.8864, 0.4648, 0.3004, 0.1147] state[eef_state]: left_x=0.2596 left_y=0.002 left_z=0.1311 left_yaw=0.0028 left_pitch=-0.2468 left_roll=0.0013 left_gripper=0.9992 right_x=0.4256 right_y=0.2649 right_z=0.2415 right_yaw=0.1405 right_pitch=-0.1885 right_roll=-0.1433 right_gripper=0.1147 state[joint_eff]: [-0.1162, -1.388, 7.0222, 1.5751, -0.0611, -0.0366, -0.0122, -0.5128, -9.7436, 8.7043, 1.746, 0.2125, -0.0317, 0.1587] camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.19, "right_gripper": 1}, "note": "The bear now hangs over the red interior; lowering slightly and opening the jaws to drop it into the safe."})
tool
executing move_to over 9 steps (0.9s)
step 230
assistant
agent noteBear is in the safe. Parking the right arm back near home and out of the way before the left arm goes for the cream poodle plush.
move_to
right_x0.3000right_y0.0500right_z0.2500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.6151, -0.0189, -0.0387, 0.9992, 0.7074, 1.9076, 1.6627, -0.7254, 0.4549, 0.2916, 0.9948] state[eef_state]: left_x=0.2589 left_y=0.002 left_z=0.1304 left_yaw=0.0029 left_pitch=-0.2506 left_roll=0.0013 left_gripper=0.9992 right_x=0.4196 right_y=0.2614 right_z=0.1714 right_yaw=0.1429 right_pitch=-0.2576 right_roll=-0.1843 right_gripper=0.9948 state[joint_eff]: [-0.0615, -1.1829, 6.8171, 1.4921, -0.0415, -0.0708, -0.0122, 0.0205, -12.5197, 7.0359, 1.5214, 0.2173, 0.0513, -0.1685] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.05, "right_z": 0.25, "right_gripper": 1}, "note": "Bear is in the safe. Parking the right arm back near home and out of the way before the left arm goes for the cream poodle plush."})
tool
executing move_to over 18 steps (1.8s)
step 248
assistant
agent noteOnly the cream poodle plush is left on the table, to the left of the safe. Flying the left arm over my estimate of its position to line it up in the left wrist view.
move_to
left_x0.3600left_y-0.1700left_z0.1800left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6331, -0.0189, -0.0383, 0.9992, 0.2684, 1.1412, 1.2175, -0.9535, 0.2047, -0.0467, 0.999] state[eef_state]: left_x=0.2557 left_y=0.0021 left_z=0.127 left_yaw=0.0028 left_pitch=-0.2704 left_roll=0.0021 left_gripper=0.9992 right_x=0.3028 right_y=0.0498 right_z=0.2438 right_yaw=0.1085 right_pitch=-0.2759 right_roll=-0.1868 right_gripper=0.999 state[joint_eff]: [-0.0615, -1.347, 6.8171, 1.6093, -0.0611, -0.0317, -0.0122, -0.1026, -3.8359, 6.3932, 1.746, 0.0757, -0.022, -0.1197] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.17, "left_z": 0.18, "left_pitch": 0}, "note": "Only the cream poodle plush is left on the table, to the left of the safe. Flying the left arm over my estimate of its position to line it up in the left wrist view."})
tool
executing move_to over 16 steps (1.6s)
step 264
assistant
agent noteThe poodle sits at the lower-left of the left wrist view, just inboard of the jaw column; shifting ~2 cm toward +y and descending to table level to straddle it.
move_to
left_x0.3500left_y-0.1450left_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6834, 1.3758, 0.902, -0.3191, -0.5343, -0.4519, 0.9992, 0.2672, 1.1454, 1.2171, -0.9714, 0.1902, -0.0631, 0.999] state[eef_state]: left_x=0.3461 left_y=-0.1612 left_z=0.1545 left_yaw=-0.0127 left_pitch=-0.0841 left_roll=0.0368 left_gripper=0.9992 right_x=0.2997 right_y=0.0512 right_z=0.2393 right_yaw=0.1281 right_pitch=-0.3015 right_roll=-0.1897 right_gripper=0.999 state[joint_eff]: [-0.4855, -5.7368, 9.7026, 1.6484, -0.4078, 0.0171, -0.0122, 0.0205, -3.5214, 6.7077, 1.5409, 0.2222, 0.1099, -0.0171] camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.145, "left_z": 0.02}, "note": "The poodle sits at the lower-left of the left wrist view, just inboard of the jaw column; shifting ~2 cm toward +y and descending to table level to straddle it."})
tool
executing move_to over 9 steps (0.9s)
step 273
assistant
agent noteThe poodle fills the left wrist view right between the jaws at table level; closing fully to grip it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6312, 1.6623, 0.5591, 0.2508, -0.5014, -0.4164, 0.9992, 0.2672, 1.1454, 1.2171, -0.9939, 0.1894, -0.0639, 0.9989] state[eef_state]: left_x=0.3398 left_y=-0.1388 left_z=0.014 left_yaw=-0.0002 left_pitch=-0.1473 left_roll=0.0813 left_gripper=0.9992 right_x=0.2955 right_y=0.0501 right_z=0.2359 right_yaw=0.1282 right_pitch=-0.3239 right_roll=-0.1928 right_gripper=0.9989 state[joint_eff]: [0.4991, -6.9949, 4.7385, 1.7265, -0.2222, 0.0171, -0.0122, -0.1846, -3.2205, 6.3521, 1.536, 0.0659, -0.0073, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The poodle fills the left wrist view right between the jaws at table level; closing fully to grip it."})
tool
executing move_to over 10 steps (1.0s)
step 283
assistant
agent noteGripper settled at 0.13 with fur pinched; lifting to 25 cm to check the poodle comes along before carrying it to the safe.
move_to
left_z0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6289, 1.6733, 0.5449, 0.2611, -0.5091, -0.424, 0.1305, 0.2672, 1.1458, 1.2171, -1.0161, 0.189, -0.0643, 0.9989] state[eef_state]: left_x=0.3368 left_y=-0.1341 left_z=0.008 left_yaw=0.0133 left_pitch=-0.1555 left_roll=0.0892 left_gripper=0.1305 right_x=0.2914 right_y=0.0491 right_z=0.2326 right_yaw=0.1277 right_pitch=-0.3463 right_roll=-0.1961 right_gripper=0.9989 state[joint_eff]: [-0.2803, -7.3504, 5.9145, 1.2723, -0.1783, 0.0317, 0.8962, -0.1162, -3.0291, 6.3658, 1.5311, 0.022, -0.0611, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 283): [image omitted: streamed camera frame] camera 'left_cam' (step 283): [image omitted: streamed camera frame] camera 'right_cam' (step 283): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.25}, "note": "Gripper settled at 0.13 with fur pinched; lifting to 25 cm to check the poodle comes along before carrying it to the safe."})
tool
executing move_to over 16 steps (1.6s)
step 299
assistant
agent notePoodle is lifted off the table; carrying it right and forward to hover over the open safe's red interior.
move_to
left_x0.4200left_y-0.3600left_z0.2600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6285, 1.3426, 1.2507, -0.7933, -0.5049, -0.432, 0.1326, 0.2672, 1.1454, 1.2171, -1.0351, 0.1894, -0.0643, 0.9989] state[eef_state]: left_x=0.3371 left_y=-0.135 left_z=0.2326 left_yaw=0.0168 left_pitch=-0.1713 left_roll=0.0915 left_gripper=0.1326 right_x=0.2877 right_y=0.048 right_z=0.23 right_yaw=0.1264 right_pitch=-0.3648 right_roll=-0.1992 right_gripper=0.9989 state[joint_eff]: [-0.1983, -5.3812, 9.1282, 1.3993, -0.2857, 0.0269, 0.7595, -0.0889, -3.1658, 6.2838, 1.4774, 0.0513, -0.0611, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.36, "left_z": 0.26}, "note": "Poodle is lifted off the table; carrying it right and forward to hover over the open safe's red interior."})
tool
executing move_to over 21 steps (2.1s)
step 320
assistant
agent noteThe poodle hangs over the red interior of the safe; lowering slightly and opening the jaws to drop it in.
move_to
left_z0.1900left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.907, 2.5328, 2.9101, -1.4582, -0.6449, -0.7162, 0.135, 0.2672, 1.1458, 1.2171, -1.058, 0.189, -0.0643, 0.999] state[eef_state]: left_x=0.4202 left_y=-0.359 left_z=0.2227 left_yaw=0.017 left_pitch=-0.2111 left_roll=0.1081 left_gripper=0.135 right_x=0.2832 right_y=0.0469 right_z=0.2268 right_yaw=0.1254 right_pitch=-0.3878 right_roll=-0.2024 right_gripper=0.999 state[joint_eff]: [-0.4855, -15.8564, 8.4444, 0.7595, -0.652, 0.0611, 0.5739, -0.1983, -2.9197, 6.4615, 1.5067, 0.0757, -0.0562, -0.0122] camera 'top_cam' (step 320): [image omitted: streamed camera frame] camera 'left_cam' (step 320): [image omitted: streamed camera frame] camera 'right_cam' (step 320): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.19, "left_gripper": 1}, "note": "The poodle hangs over the red interior of the safe; lowering slightly and opening the jaws to drop it in."})
tool
executing move_to over 9 steps (0.9s)
step 329
assistant
agent noteReleased the poodle but it may have landed on the safe's rim rather than inside; retracting the left arm so the overhead camera can show the safe clearly.
move_to
left_x0.3000left_y-0.1000left_z0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9085, 2.3707, 2.3875, -1.1664, -0.6411, -0.7197, 0.9953, 0.2672, 1.1458, 1.2171, -1.0798, 0.1894, -0.0643, 0.9989] state[eef_state]: left_x=0.4181 left_y=-0.3585 left_z=0.167 left_yaw=0.0282 left_pitch=-0.2546 left_roll=0.1601 left_gripper=0.9953 right_x=0.279 right_y=0.0456 right_z=0.2239 right_yaw=0.1238 right_pitch=-0.4093 right_roll=-0.2061 right_gripper=0.9989 state[joint_eff]: [-0.0889, -17.2103, 5.5043, 1.1551, -0.4078, -0.0269, -0.1343, -0.1573, -3.0017, 6.3932, 1.4286, 0.0806, -0.0562, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 329): [image omitted: streamed camera frame] camera 'left_cam' (step 329): [image omitted: streamed camera frame] camera 'right_cam' (step 329): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.1, "left_z": 0.25}, "note": "Released the poodle but it may have landed on the safe's rim rather than inside; retracting the left arm so the overhead camera can show the safe clearly."})
tool
executing move_to over 23 steps (2.3s)
step 352
assistant
agent noteBear, lemon and poodle all appear inside the safe. Closing the right gripper and lifting it high above/behind the open lid, ready to sweep the lid shut.
move_to
right_gripper0.0000right_x0.5000right_y0.2500right_z0.3500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6113, 1.2781, 1.3193, -1.0279, -0.5041, -0.437, 0.9963, 0.2672, 1.1458, 1.2171, -1.0916, 0.1894, -0.0643, 0.999] state[eef_state]: left_x=0.305 left_y=-0.1052 left_z=0.2475 left_yaw=0.0494 left_pitch=-0.252 left_roll=0.1504 left_gripper=0.9963 right_x=0.2766 right_y=0.045 right_z=0.2224 right_yaw=0.123 right_pitch=-0.421 right_roll=-0.2079 right_gripper=0.999 state[joint_eff]: [0.1983, -5.053, 6.0513, 1.4823, -0.1294, 0.1538, 0.0904, -0.0889, -3.1111, 6.2701, 1.3553, 0.022, -0.0464, -0.0122] camera 'top_cam' (step 352): [image omitted: streamed camera frame] camera 'left_cam' (step 352): [image omitted: streamed camera frame] camera 'right_cam' (step 352): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0, "right_x": 0.5, "right_y": 0.25, "right_z": 0.35}, "note": "Bear, lemon and poodle all appear inside the safe. Closing the right gripper and lifting it high above/behind the open lid, ready to sweep the lid shut."})
tool
executing move_to over 18 steps (1.8s)
step 370
assistant
agent noteThe wrist view reveals the poodle actually landed on the table just right of the safe (bear and lemon are inside). Opening the jaws and descending toward the poodle to pick it up again.
move_to
right_gripper1.0000right_x0.4600right_y0.1800right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6083, 1.2827, 1.3148, -1.0397, -0.4934, -0.4351, 0.9965, 0.5438, 2.2726, 2.7651, -1.6012, 0.308, 0.1562, 0.0079] state[eef_state]: left_x=0.303 left_y=-0.1046 left_z=0.2423 left_yaw=0.0471 left_pitch=-0.2742 left_roll=0.1577 left_gripper=0.9965 right_x=0.4402 right_y=0.2078 right_z=0.269 right_yaw=0.1513 right_pitch=-0.4536 right_roll=-0.2174 right_gripper=0.0079 state[joint_eff]: [-0.4171, -4.7521, 6.8171, 1.3162, -0.4127, -0.0611, 0.0024, 0.294, -10.7282, 7.3641, 1.3407, 0.3297, 0.1783, 0.7155] camera 'top_cam' (step 370): [image omitted: streamed camera frame] camera 'left_cam' (step 370): [image omitted: streamed camera frame] camera 'right_cam' (step 370): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.46, "right_y": 0.18, "right_z": 0.12}, "note": "The wrist view reveals the poodle actually landed on the table just right of the safe (bear and lemon are inside). Opening the jaws and descending toward the poodle to pick it up again."})
tool
executing move_to over 10 steps (1.0s)
step 380
assistant
agent notePoodle is centred on the jaw column but slightly beyond the fingertips; advancing ~3 cm and descending to table level with the tool upright to straddle it.
move_to
right_x0.4800right_y0.1750right_z0.0200right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6083, 1.2831, 1.3148, -1.0405, -0.49, -0.4351, 0.9966, 0.4667, 2.0117, 1.692, -0.8726, 0.2718, 0.0818, 0.9944] state[eef_state]: left_x=0.3027 left_y=-0.1051 left_z=0.2418 left_yaw=0.0448 left_pitch=-0.2769 left_roll=0.156 left_gripper=0.9966 right_x=0.442 right_y=0.1736 right_z=0.1076 right_yaw=0.1358 right_pitch=-0.553 right_roll=-0.2554 right_gripper=0.9944 state[joint_eff]: [-0.2256, -4.3282, 6.2974, 1.1746, -0.2906, -0.0415, -0.0122, -0.6906, -12.1231, 6.8034, 1.3651, 0.0806, -0.0659, -0.0611] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 380): [image omitted: streamed camera frame] camera 'left_cam' (step 380): [image omitted: streamed camera frame] camera 'right_cam' (step 380): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.48, "right_y": 0.175, "right_z": 0.02, "right_pitch": 0}, "note": "Poodle is centred on the jaw column but slightly beyond the fingertips; advancing ~3 cm and descending to table level with the tool upright to straddle it."})
tool
executing move_to over 19 steps (1.9s)
step 399
assistant
agent notePoodle's fleece fills the jaw area at table level; closing fully to pinch it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6083, 1.2839, 1.3148, -1.0405, -0.4896, -0.4351, 0.9966, 0.4831, 2.0487, 1.0264, 0.334, 0.4232, -0.0128, 0.9952] state[eef_state]: left_x=0.3028 left_y=-0.1052 left_z=0.2416 left_yaw=0.0447 left_pitch=-0.2777 left_roll=0.1562 left_gripper=0.9966 right_x=0.4739 right_y=0.1707 right_z=0.0219 right_yaw=0.1316 right_pitch=-0.0507 right_roll=-0.2645 right_gripper=0.9952 state[joint_eff]: [-0.1026, -4.4103, 6.3111, 1.1795, -0.2759, -0.0415, -0.0073, 0.4718, -7.9795, 5.2855, 1.536, 0.0708, -0.149, 0.0757] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 399): [image omitted: streamed camera frame] camera 'left_cam' (step 399): [image omitted: streamed camera frame] camera 'right_cam' (step 399): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Poodle's fleece fills the jaw area at table level; closing fully to pinch it."})
tool
executing move_to over 10 steps (1.0s)
step 409
assistant
agent noteGripper settled at 0.50 on the fleece — the poodle is held. Lifting to 28 cm to clear the safe wall.
move_to
right_z0.2800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6083, 1.2839, 1.3148, -1.0405, -0.4896, -0.4351, 0.9969, 0.485, 2.0533, 1.021, 0.3416, 0.4011, -0.0147, 0.5034] state[eef_state]: left_x=0.3028 left_y=-0.1052 left_z=0.2416 left_yaw=0.0447 left_pitch=-0.2777 left_roll=0.1562 left_gripper=0.9969 right_x=0.4721 right_y=0.1749 right_z=0.0182 right_yaw=0.1523 right_pitch=-0.0579 right_roll=-0.2536 right_gripper=0.5034 state[joint_eff]: [-0.1026, -4.3829, 6.2974, 1.2137, -0.2857, -0.0659, 0.022, -0.5128, -10.7419, 5.7915, 1.4823, 0.3053, -0.0073, 1.0281] camera 'top_cam' (step 409): [image omitted: streamed camera frame] camera 'left_cam' (step 409): [image omitted: streamed camera frame] camera 'right_cam' (step 409): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.28}, "note": "Gripper settled at 0.50 on the fleece \u2014 the poodle is held. Lifting to 28 cm to clear the safe wall."})
tool
executing move_to over 17 steps (1.7s)
step 426
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6083, 1.2839, 1.3148, -1.0405, -0.4896, -0.4351, 0.997, 0.485, 1.7824, 1.7168, -0.6491, 0.3851, -0.0223, 0.5015] state[eef_state]: left_x=0.3028 left_y=-0.1052 left_z=0.2416 left_yaw=0.0447 left_pitch=-0.2777 left_roll=0.1562 left_gripper=0.997 right_x=0.4721 right_y=0.1778 right_z=0.2608 right_yaw=0.1688 right_pitch=-0.085 right_roll=-0.2574 right_gripper=0.5015 state[joint_eff]: [-0.2256, -4.3829, 6.2838, 1.199, -0.2808, -0.0415, -0.0024, -0.3487, -9.7026, 8.7863, 1.7705, 0.2662, 0.0611, -0.2125] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 426): [image omitted: streamed camera frame] camera 'left_cam' (step 426): [image omitted: streamed camera frame] camera 'right_cam' (step 426): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 32.89 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the objects into the safe, then close the safe.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6044, -0.3885, -0.0193, -0.0341, 0.9993, -0.0212, 0.7937, 0.6067, -0.4034, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0014 left_z=0.1788 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2919 right_y=0.0009 right_z=0.1765 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -1.4017, 10.2222, 1.9951, -0.0855, 0.1832, -0.0855, -0.3897, -1.4701, 9.6752, 2.0733, -0.0513, 0.1001, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:517686188af09e7a6b9b37ccfaa83e9470f2207e343b994d09c0f1086b571c9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3769810efe1770ee96057f34b19d2bee069f4eb31e7ee0e0560b57262d7c1786",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eb95c6b5933cbf6902e79de8257219f11099ad4ba0b9ebce62a56f91c44a77e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 7.361 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6044, -0.3885, -0.0193, -0.0341, 0.9993, -0.0212, 0.7937, 0.6067, -0.4034, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0014 left_z=0.1788 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2919 right_y=0.0009 right_z=0.1765 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -1.4017, 10.2222, 1.9951, -0.0855, 0.1832, -0.0855, -0.3897, -1.4701, 9.6752, 2.0733, -0.0513, 0.1001, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:517686188af09e7a6b9b37ccfaa83e9470f2207e343b994d09c0f1086b571c9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3769810efe1770ee96057f34b19d2bee069f4eb31e7ee0e0560b57262d7c1786",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb95c6b5933cbf6902e79de8257219f11099ad4ba0b9ebce62a56f91c44a77e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G5s4DCygSbGasDNr6JMfZs",
      "input": {
        "note": "Top view shows an open safe (red interior) in the middle, a yellow lemon to its right, a teddy bear in front, and a small doll to the left. I'm flying the right arm above my estimated lemon position to check alignment in its wrist camera.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.4,
          "right_y": 0.12,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01G5s4DCygSbGasDNr6JMfZs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4061, -0.0193, -0.0383, 0.9992, 0.4206, 1.3727, 0.9745, -0.3161, 0.3103, 0.1959, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1751 left_yaw=0.0023 left_pitch=-0.0194 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3832 right_y=0.1162 right_z=0.1752 right_yaw=0.0443 right_pitch=-0.0838 right_roll=-0.0396 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -1.4427, 7.0906, 1.8535, -0.0122, -0.0269, -0.022, 0.2393, -5.8462, 9.2786, 1.9805, 0.2955, 0.2027, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9da1d57d69b55dbcf18a7a735941d5fc1e68329c3c1141f0d0ebe456657b97a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96e298513c731351fe8e34533f6d49b1799d8d945a4fc582f0dc06fd9569f802",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ef339a24e175a44305dfe788255132d6bf7deeca5ded53b8a67b6aa23e95f878",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 6.789 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6044, -0.3885, -0.0193, -0.0341, 0.9993, -0.0212, 0.7937, 0.6067, -0.4034, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0014 left_z=0.1788 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2919 right_y=0.0009 right_z=0.1765 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -1.4017, 10.2222, 1.9951, -0.0855, 0.1832, -0.0855, -0.3897, -1.4701, 9.6752, 2.0733, -0.0513, 0.1001, -0.0562]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4061, -0.0193, -0.0383, 0.9992, 0.4206, 1.3727, 0.9745, -0.3161, 0.3103, 0.1959, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1751 left_yaw=0.0023 left_pitch=-0.0194 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3832 right_y=0.1162 right_z=0.1752 right_yaw=0.0443 right_pitch=-0.0838 right_roll=-0.0396 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -1.4427, 7.0906, 1.8535, -0.0122, -0.0269, -0.022, 0.2393, -5.8462, 9.2786, 1.9805, 0.2955, 0.2027, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9da1d57d69b55dbcf18a7a735941d5fc1e68329c3c1141f0d0ebe456657b97a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96e298513c731351fe8e34533f6d49b1799d8d945a4fc582f0dc06fd9569f802",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef339a24e175a44305dfe788255132d6bf7deeca5ded53b8a67b6aa23e95f878",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISmQYKjgEIEhgCKkCeWE37AePuzIfr3T6wbJxKXceNKypPy+k4/4pSmxjL4pFu47T9pH3usU308Co5J4tObspmBUfEdrZ0xeuP5aNYMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbn+y9UGEgzJvhtc4q2Z817DMHYaDLVpC/DAwrAWF7/KBiIwcy4g6YFbSYrs/9JtdYNGaE/2LJf69Q97Hry6qPSFiU/nalnQS7coHTW+qau3dde8KrcEzreddbO1Ad2dEam7rybEgC1LXFMTM5L0wGTSnYkqOYaw5pH5+fEo3kmLWzHMiRE6aeJ5Xao+ZLlSSXHwkYYPN75wYjP5jzOFIsq4cAHnNIwEOW+UTfDt5TB/mK6Xd53fRXVe0gYX/Q7lRM23smIWvtxDRwk3+MS6ciCRkgDguiK2eGO33wL6rzTpVmdtS7Ry7eHFVb5b/kJ37+qKmv4t1/e66KkmnAXbgJfD+BPT4EqMO77U9mHTj74H2i4r3GJbyyPCH9SQySI2wbDlWFoLyQ14fstIpLTF0pkDGxX51waQ+FODvQswhQCKZbm91mlE60044jxDRgSU36nUXf5hDF1+9hsHBii3FLF5Mo5BMwVKmpbiEZJVrMxk4zBxcFCat+ko4pmJZlsyZ5VWql9+yZiC+s0rtjYQKrwzNYtgczrrbevgrE7Zf7C4kSYEr93eR9bF/rCHIHoIEtcJ/8AqVVHCzCSqVe+tTIkatVY+Q3eOECevdkbXVMzb7VOgS7/7IaCxmTDTP86hOhLNthgO0KLwu9vIoklNQvrjFDLmjAC1iijjdPSKMW//ybjGhTKw5WcnY54muDvWhaZZR5fRl8VtNCWDqF2CWjLfQFfP+GApHusnINZC39bgcaY89RE1bcuIzZnAISSjnKeT3PhBnD09KKVeqvjwpSCTxTYaI6wgEAnTD/u6V8SjtxIvFxkGqaYkiyajlFYCDy6dDKPw4aXiaasGQseM3fcIz+rAj/5KHhweC7HZGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MzCcU12eytiW3dRnKpP3LH",
      "input": {
        "note": "Lemon is now nicely on the jaw column in the right wrist view but still farther out than the fingertips; advancing ~5 cm radially and descending to 12 cm to get above it.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.125,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01MzCcU12eytiW3dRnKpP3LH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8005, 0.6067, -0.4114, -0.0193, -0.0387, 0.9992, 0.3767, 1.6325, 0.9829, -0.1535, 0.2794, 0.168, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=0.0015 left_z=0.173 left_yaw=0.0025 left_pitch=-0.0286 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4205 right_y=0.1178 right_z=0.1026 right_yaw=0.037 right_pitch=-0.1753 right_roll=-0.0721 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -0.9915, 7.1863, 1.7753, -0.0171, -0.0659, -0.0122, -0.4444, -7.8427, 8.1573, 1.956, 0.1099, 0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22fcdeb51534dd9feee6b293549b7c318761ba6dd05417218b008263bcb6fe4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb240db52ed7ea657687826fb6282d6571cb039f57a30ad07b7674278c062dab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:71d0bb9a3f216b52dfe6257bc18efb9bd391b480151be5a197084007703a1c5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 5.754 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6044, -0.3885, -0.0193, -0.0341, 0.9993, -0.0212, 0.7937, 0.6067, -0.4034, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0014 left_z=0.1788 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2919 right_y=0.0009 right_z=0.1765 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -1.4017, 10.2222, 1.9951, -0.0855, 0.1832, -0.0855, -0.3897, -1.4701, 9.6752, 2.0733, -0.0513, 0.1001, -0.0562]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4061, -0.0193, -0.0383, 0.9992, 0.4206, 1.3727, 0.9745, -0.3161, 0.3103, 0.1959, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1751 left_yaw=0.0023 left_pitch=-0.0194 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3832 right_y=0.1162 right_z=0.1752 right_yaw=0.0443 right_pitch=-0.0838 right_roll=-0.0396 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -1.4427, 7.0906, 1.8535, -0.0122, -0.0269, -0.022, 0.2393, -5.8462, 9.2786, 1.9805, 0.2955, 0.2027, -0.0562]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8005, 0.6067, -0.4114, -0.0193, -0.0387, 0.9992, 0.3767, 1.6325, 0.9829, -0.1535, 0.2794, 0.168, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=0.0015 left_z=0.173 left_yaw=0.0025 left_pitch=-0.0286 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4205 right_y=0.1178 right_z=0.1026 right_yaw=0.037 right_pitch=-0.1753 right_roll=-0.0721 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -0.9915, 7.1863, 1.7753, -0.0171, -0.0659, -0.0122, -0.4444, -7.8427, 8.1573, 1.956, 0.1099, 0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22fcdeb51534dd9feee6b293549b7c318761ba6dd05417218b008263bcb6fe4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb240db52ed7ea657687826fb6282d6571cb039f57a30ad07b7674278c062dab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71d0bb9a3f216b52dfe6257bc18efb9bd391b480151be5a197084007703a1c5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5AQKjgEIEhgCKkB1208hDCpT5PI/A+Uu2mYRkQzDSEB8G0vcq5LyKiDhIYZ49nkZjE0DoKCfpgKP4wUtc38Wsw/jiou7c+ZG/pLpMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcD+y9UGEgwunny+gUcs2LSzRg4aDBFF0ipdvMdEcscJsSIwJ3TgZVMXqoFh9autz6EYiNsDOM4bj1sfO+0aBEr+hJfdgMDmXld8MO94qyzy5ncRKoIDMTKZUjNzVHgtnnL8TtTIoporf0TiPtU2v70Ml/M8kWNVq+DROSds/IxtGZZwprbCzlgkmE0F7nuPrwF0SpByUNPUi0AfF3vk7AiqB0GSu+svVzxMqUwVBlzIh+ebt7XBF5x/pgORJw2NtE9ne9pcvAiPJ4iDDi365nhxC+v+oNEN51da8Fd+rJjQYFjBAvcsfyfp8ZHDMx/Pno9iLs2NBiBO+Wgl9shQHA842oG2yV3tvsze6nP2duYSsCr6vX/cgDV/7TV1E/N1gOStQcZZyMSCtwXUH1G22NBsC0tgRdMgb4Zr2JZnzfWpH7WYIlL5Jwb1am5FoiAw1UNv6/Yxrkj0gR8dQ7nBXWupxkZ/rOn1jjfrPTORqNKOo6BvWxR7R9O4SG0As3xilq7DuKHvnfNedUNnwHIW3OOUrgfp+40RTvUJRP9Z+0hr7SmzvgcH6hy0TBIZUJ/Fr/QYjbD9bNXnwm9XpM/Ji1UnDPRD0SdnC5Ktaix8T2hpCOuxmoa8GHcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MZco4WfLNVSb67NLQCNP7u",
      "input": {
        "note": "Lemon is just left of and below the jaw column; nudging 2 cm toward +y and a few cm further out while descending near the table to straddle it.",
        "targets": {
          "right_x": 0.46,
          "right_y": 0.14,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01MZco4WfLNVSb67NLQCNP7u",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8013, 0.6067, -0.4232, -0.0193, -0.0387, 0.9992, 0.3752, 1.6573, 0.9829, -0.1089, 0.2718, 0.1577, 0.9996]\nstate[eef_state]: left_x=0.2896 left_y=0.0015 left_z=0.1704 left_yaw=0.0025 left_pitch=-0.0412 left_roll=-0.003 left_gripper=0.9992 right_x=0.4273 right_y=0.1212 right_z=0.0995 right_yaw=0.0486 right_pitch=-0.1587 right_roll=-0.0679 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.347, 7.1863, 1.917, -0.0317, -0.0464, -0.0122, -0.4855, -8.4718, 8.1573, 2.0147, 0.0611, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c41b47c23872e12bc214c86619424f2b76a11f27fc0903ab39961c3801ec3ac6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc79635b4504e249c76fc5fb6218bfcc411c00030102969a5820943e2b685103",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:183b728e7d59448ba91bf9b63f8f64e3f9a3b8d5a17cea7fcac4b94ee544d8e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 7.872 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4061, -0.0193, -0.0383, 0.9992, 0.4206, 1.3727, 0.9745, -0.3161, 0.3103, 0.1959, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1751 left_yaw=0.0023 left_pitch=-0.0194 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3832 right_y=0.1162 right_z=0.1752 right_yaw=0.0443 right_pitch=-0.0838 right_roll=-0.0396 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -1.4427, 7.0906, 1.8535, -0.0122, -0.0269, -0.022, 0.2393, -5.8462, 9.2786, 1.9805, 0.2955, 0.2027, -0.0562]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8005, 0.6067, -0.4114, -0.0193, -0.0387, 0.9992, 0.3767, 1.6325, 0.9829, -0.1535, 0.2794, 0.168, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=0.0015 left_z=0.173 left_yaw=0.0025 left_pitch=-0.0286 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4205 right_y=0.1178 right_z=0.1026 right_yaw=0.037 right_pitch=-0.1753 right_roll=-0.0721 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -0.9915, 7.1863, 1.7753, -0.0171, -0.0659, -0.0122, -0.4444, -7.8427, 8.1573, 1.956, 0.1099, 0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8013, 0.6067, -0.4232, -0.0193, -0.0387, 0.9992, 0.3752, 1.6573, 0.9829, -0.1089, 0.2718, 0.1577, 0.9996]\nstate[eef_state]: left_x=0.2896 left_y=0.0015 left_z=0.1704 left_yaw=0.0025 left_pitch=-0.0412 left_roll=-0.003 left_gripper=0.9992 right_x=0.4273 right_y=0.1212 right_z=0.0995 right_yaw=0.0486 right_pitch=-0.1587 right_roll=-0.0679 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.347, 7.1863, 1.917, -0.0317, -0.0464, -0.0122, -0.4855, -8.4718, 8.1573, 2.0147, 0.0611, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c41b47c23872e12bc214c86619424f2b76a11f27fc0903ab39961c3801ec3ac6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc79635b4504e249c76fc5fb6218bfcc411c00030102969a5820943e2b685103",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:183b728e7d59448ba91bf9b63f8f64e3f9a3b8d5a17cea7fcac4b94ee544d8e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStQMKjgEIEhgCKkCqCJKxUEXt7xtn/9Oxf2rdTJ2Ud6m8QhFw/XqX8zPwbRJpuPdb71o4f5s2gsNiYz2OGUuBTMPbDqtnQCqNh7v7Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcf+y9UGEgw7AgBBwgOUwm5/7HMaDFDkmEwyIgswlG0ANyIw2CIXvAFpjdlI86fXPs06qbHf8QSA1XuU1sGGWuTETBwI7sITvGn3Barxu+Px0EkyKtMBgQUsvKdqgR/1H0t3KQ4Pvm1xr9Oyh1piYQyOcHf0CnFAWzSVHLrToF9pLbBPzalAzqIaywlHUYe85SAlYkhIq0NqO82GriafQvl4SBF6qqpwE4M325LF8kXG3yLPm5wEJSD03lFrNQxoO9m7xraj9lWg24eIlbpa32tsNb4V1sQ6hsnlDdfqHTJAJjhohAK+2PtWhV4VboKxL9JQ1piIYVJT+LOBDghcn07Sbl2qQmCs5ZFF416hNtiV8bKSTK3EXb15d9DnMHbu/BNNhiHGEAyWrBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011JCSKftKAJxb6eNcs72c3r",
      "input": {
        "note": "The previous move was clamped and the arm only crept forward; re-sending the same target to finish descending over the lemon.",
        "targets": {
          "right_x": 0.46,
          "right_y": 0.14,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_011JCSKftKAJxb6eNcs72c3r",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8017, 0.6067, -0.4286, -0.0193, -0.0387, 0.9992, 0.3756, 1.6573, 0.9829, -0.1089, 0.2722, 0.1577, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1692 left_yaw=0.0025 left_pitch=-0.0469 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4272 right_y=0.1213 right_z=0.0995 right_yaw=0.0487 right_pitch=-0.1587 right_roll=-0.0681 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.1282, 7.2, 1.7216, -0.0171, -0.0464, -0.0122, -0.3214, -8.5812, 8.1026, 2.0195, 0.0904, 0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8177a56a723d2a7af33d385a1fc9c9f677a41f2c44a61723632af209fa340ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f183b8aecb83d3930482ae9c16999e444b955728572b1797d5c1921dc0e8b87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b52235858b1582ddeddc100f0f5a7c1e208ef721827989c508bb700b0b25a685",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 5.286 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8005, 0.6067, -0.4114, -0.0193, -0.0387, 0.9992, 0.3767, 1.6325, 0.9829, -0.1535, 0.2794, 0.168, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=0.0015 left_z=0.173 left_yaw=0.0025 left_pitch=-0.0286 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4205 right_y=0.1178 right_z=0.1026 right_yaw=0.037 right_pitch=-0.1753 right_roll=-0.0721 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -0.9915, 7.1863, 1.7753, -0.0171, -0.0659, -0.0122, -0.4444, -7.8427, 8.1573, 1.956, 0.1099, 0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8013, 0.6067, -0.4232, -0.0193, -0.0387, 0.9992, 0.3752, 1.6573, 0.9829, -0.1089, 0.2718, 0.1577, 0.9996]\nstate[eef_state]: left_x=0.2896 left_y=0.0015 left_z=0.1704 left_yaw=0.0025 left_pitch=-0.0412 left_roll=-0.003 left_gripper=0.9992 right_x=0.4273 right_y=0.1212 right_z=0.0995 right_yaw=0.0486 right_pitch=-0.1587 right_roll=-0.0679 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.347, 7.1863, 1.917, -0.0317, -0.0464, -0.0122, -0.4855, -8.4718, 8.1573, 2.0147, 0.0611, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8017, 0.6067, -0.4286, -0.0193, -0.0387, 0.9992, 0.3756, 1.6573, 0.9829, -0.1089, 0.2722, 0.1577, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1692 left_yaw=0.0025 left_pitch=-0.0469 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4272 right_y=0.1213 right_z=0.0995 right_yaw=0.0487 right_pitch=-0.1587 right_roll=-0.0681 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.1282, 7.2, 1.7216, -0.0171, -0.0464, -0.0122, -0.3214, -8.5812, 8.1026, 2.0195, 0.0904, 0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8177a56a723d2a7af33d385a1fc9c9f677a41f2c44a61723632af209fa340ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f183b8aecb83d3930482ae9c16999e444b955728572b1797d5c1921dc0e8b87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b52235858b1582ddeddc100f0f5a7c1e208ef721827989c508bb700b0b25a685",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1wcKjgEIEhgCKkBVySKCxGvUJOZWfDMWPRAlJ2cdQiQsd/Pz0+8lD813qa2kzGGIuMxRB31QNo2xVivYjEXJmwBK3oqggoBvsULHMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc/+y9UGEgzAgojkYL42rRU8inQaDGGGLV3yOqU8AhvcDCIwhKFzx2ziwQDj/OBLJR/4ykU2BMnYvyuT4kov2qExGwpdbzKqbK2/2Q+IPVO37n5pKvUFoGOGW3pr3XzyEwCq+o+dg0ByIujLbmRA3rBntTdYcc3Oo7P0XDMZgmkTNDy1iXE4qBWUYUnVvRVTOeLWvnbjVQljPQou8B4ei5ug5HKbxiEvh+0MBIk6qeDbAmHH3J8XbTPeGiX514NP1VaSWG76JFU7YLlgvYTHCN/UlePHa/sL4V0C8eF9QtIaP6NhA5rniWN7yt+E1mRHBGX/Nkmod14QP47koxyRTWCWJ87sKTVZ0xfWbBuaSUxoxrWIWrOHzlOyeQFMmam0m5DOeqAxcbquzXX2bPeCFbogLRSwU3cte/6pDatRhy17DL0Y7frH8IgrWHLt/8o6VUJy2JTjaSxq//WINGoHjABEZG0T2kKP+3sMcIYATMY0a0mgMNWv1ybVSYiYGwJZM8fEyo0FPuqcFJXZuskiElo0BvRvHQYW5YPEbS1vCeyi0051JURFmruBf0LyXW0AYLA9YWfe7k0pLAUKanA9bTg23v/E5p0l8eMutK/v+xAyNDG9O6EgJOMoxQB2tUePiqB3PMBe0bDyL6Xr0BQCDdVNc89Uhpdrm6OW/bvrlSs3DXcLOGoIJw1JoR/O6sv7BJlPhBrxbDRJVDKKQil6lKPblfeb0amS+PckrMQTepXPuHssOfMERSyx0xqyR9JDces/c/FLNJRbxSofkSGjjnzQq+T+H1h0IM+jmP/ffiEBAQ0ZGxVrp533Pk3roOJybjAPNXQd1UrhKfnTDnQu6Do+VgnighfMCN9KU/ApQ9AwhP04uZOj2+LEvRqiS/C6mYMU9QNIo4/N6SvjZB6cn0CQup1aAtFSUr/5TdYRpB4o+2iXLcBQpuojeNiL04x9PngC+q2Y9+tDk2ZrDpH126+Niqb8Y9qmVYQRV2XIOKHNc9Y8k5INVFq+7x5bJtV3G3TqHXLa9K6upntp9SQ7lmgsTnwABVWatq80uxGa1v4T8AAb9r6ZSjxit/o/XlbBU88oAT8/IPVhYngfI/hCnn4yiA2jQbgkVB1QlBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Jifkh9YiTiAmoNHTVzhr4d",
      "input": {
        "note": "The arm has stopped tracking (pose unchanged over two moves); trying a pure descent to see whether height alone can be commanded here.",
        "targets": {
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Jifkh9YiTiAmoNHTVzhr4d",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.3763, 1.75, 0.8806, 0.0139, 0.2707, 0.1574, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1676 left_yaw=0.0025 left_pitch=-0.0545 left_roll=-0.0027 left_gripper=0.9992 right_x=0.4147 right_y=0.1169 right_z=0.0421 right_yaw=0.0464 right_pitch=-0.2273 right_roll=-0.091 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.306, 7.0632, 1.7509, -0.0464, -0.0513, -0.0122, -0.1299, -7.9385, 6.6667, 2.0195, 0.0952, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0c604461dc3fe7bac07078b1797f86f820a4c4f421dc6d95ed037058a6ea418",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fe1df512ff6b296babac4e776b4b92ff39c46d77123a9cfe362c2918749be98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0e8bf0b34078118ec786e7a99b485ccfb4f38ed5dd7dcc35d7fb329a1588985c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 9.885 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8013, 0.6067, -0.4232, -0.0193, -0.0387, 0.9992, 0.3752, 1.6573, 0.9829, -0.1089, 0.2718, 0.1577, 0.9996]\nstate[eef_state]: left_x=0.2896 left_y=0.0015 left_z=0.1704 left_yaw=0.0025 left_pitch=-0.0412 left_roll=-0.003 left_gripper=0.9992 right_x=0.4273 right_y=0.1212 right_z=0.0995 right_yaw=0.0486 right_pitch=-0.1587 right_roll=-0.0679 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.347, 7.1863, 1.917, -0.0317, -0.0464, -0.0122, -0.4855, -8.4718, 8.1573, 2.0147, 0.0611, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8017, 0.6067, -0.4286, -0.0193, -0.0387, 0.9992, 0.3756, 1.6573, 0.9829, -0.1089, 0.2722, 0.1577, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1692 left_yaw=0.0025 left_pitch=-0.0469 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4272 right_y=0.1213 right_z=0.0995 right_yaw=0.0487 right_pitch=-0.1587 right_roll=-0.0681 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.1282, 7.2, 1.7216, -0.0171, -0.0464, -0.0122, -0.3214, -8.5812, 8.1026, 2.0195, 0.0904, 0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.3763, 1.75, 0.8806, 0.0139, 0.2707, 0.1574, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1676 left_yaw=0.0025 left_pitch=-0.0545 left_roll=-0.0027 left_gripper=0.9992 right_x=0.4147 right_y=0.1169 right_z=0.0421 right_yaw=0.0464 right_pitch=-0.2273 right_roll=-0.091 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.306, 7.0632, 1.7509, -0.0464, -0.0513, -0.0122, -0.1299, -7.9385, 6.6667, 2.0195, 0.0952, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0c604461dc3fe7bac07078b1797f86f820a4c4f421dc6d95ed037058a6ea418",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fe1df512ff6b296babac4e776b4b92ff39c46d77123a9cfe362c2918749be98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e8bf0b34078118ec786e7a99b485ccfb4f38ed5dd7dcc35d7fb329a1588985c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISlAQKjgEIEhgCKkBQBLR9TolFtHH5CcJF9jqoG0BKspSgkNQ4XJlfv3Kp90+VREIX4MqKyJTYfZxZZQU4lIBDRXUkJ0KyF9xGpS10Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdT+y9UGEgxLZKUHz+r8eHd9uEoaDG6ZTDqrpprgleSwKyIw73Tcu+V60hBt4GQV3cWt4wnt325iR9o3yOKvGoS3cAH6igLZ6qKxkTcVS3a0UN9aKrICpNhS2sDphOGSxkx5lgA7tUpVCE8uygXScUB02RumiKcGyLlcmJw7vSexWm/w4mj4mS35MQ5xSDqche6Zp/XdPSEGno4omvnKJMALYXOLwQ93Bsb44goJat+YRJ+rsgaxUT0s8p6SPDsTlRymA4KUXXqPd4syzV7nA+ITA5h+Bpxvo71U4sDGCealwYxSv4NKHPrREWHR0rHfABQFHgeVf/s/MsbRjmgXJdmD8n3Qc/GEUJDoJ+ILEM+2btHUIDXkQaecSRyucyLo6yiCP1oK7eCT06OE36DNGkmyvSfcAFOfH8EFwcs1ywyibcN1v6G9Exmylc3DmxTM5vbuDXyj1qwnueru/CPmh97PPH4TkacVDbHJu0D2sbD3M9BCbeZL0j3N9czllSu3qsAYQukYxeakGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NwPPjRrqvcQzSVR3xwzQL2",
      "input": {
        "note": "Lemon now fills the lower wrist view slightly left of centre; creeping 2 cm forward, 1 cm toward +y and down to table level to straddle it with the jaws.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.13,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01NwPPjRrqvcQzSVR3xwzQL2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4507, -0.0193, -0.0387, 0.9992, 0.3782, 1.7638, 0.87, 0.0547, 0.2691, 0.157, 0.9996]\nstate[eef_state]: left_x=0.2857 left_y=0.0016 left_z=0.1644 left_yaw=0.0025 left_pitch=-0.0705 left_roll=-0.0023 left_gripper=0.9992 right_x=0.4171 right_y=0.119 right_z=0.039 right_yaw=0.0509 right_pitch=-0.2121 right_roll=-0.0848 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.2923, 6.9812, 1.8828, -0.0415, -0.0024, -0.0122, -0.3624, -8.3761, 6.2564, 1.8974, 0.0904, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1bee718806daa5b1eae3e9112ae4a976d873f0c56f86a9ef62ffddbd8640129",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:369bbcba7394d5bff21d6d528e71d44b16443cf1575565b3956926d14b251ebc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fbd8ae210436ebabf3ccead5eaf5d0e1f835eb977d5f34740966eef317387345",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 8.219 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8017, 0.6067, -0.4286, -0.0193, -0.0387, 0.9992, 0.3756, 1.6573, 0.9829, -0.1089, 0.2722, 0.1577, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1692 left_yaw=0.0025 left_pitch=-0.0469 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4272 right_y=0.1213 right_z=0.0995 right_yaw=0.0487 right_pitch=-0.1587 right_roll=-0.0681 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.1282, 7.2, 1.7216, -0.0171, -0.0464, -0.0122, -0.3214, -8.5812, 8.1026, 2.0195, 0.0904, 0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.3763, 1.75, 0.8806, 0.0139, 0.2707, 0.1574, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1676 left_yaw=0.0025 left_pitch=-0.0545 left_roll=-0.0027 left_gripper=0.9992 right_x=0.4147 right_y=0.1169 right_z=0.0421 right_yaw=0.0464 right_pitch=-0.2273 right_roll=-0.091 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.306, 7.0632, 1.7509, -0.0464, -0.0513, -0.0122, -0.1299, -7.9385, 6.6667, 2.0195, 0.0952, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4507, -0.0193, -0.0387, 0.9992, 0.3782, 1.7638, 0.87, 0.0547, 0.2691, 0.157, 0.9996]\nstate[eef_state]: left_x=0.2857 left_y=0.0016 left_z=0.1644 left_yaw=0.0025 left_pitch=-0.0705 left_roll=-0.0023 left_gripper=0.9992 right_x=0.4171 right_y=0.119 right_z=0.039 right_yaw=0.0509 right_pitch=-0.2121 right_roll=-0.0848 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.2923, 6.9812, 1.8828, -0.0415, -0.0024, -0.0122, -0.3624, -8.3761, 6.2564, 1.8974, 0.0904, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1bee718806daa5b1eae3e9112ae4a976d873f0c56f86a9ef62ffddbd8640129",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:369bbcba7394d5bff21d6d528e71d44b16443cf1575565b3956926d14b251ebc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbd8ae210436ebabf3ccead5eaf5d0e1f835eb977d5f34740966eef317387345",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1goKjgEIEhgCKkC3pjNwTh481yPfw4rzZgr4OS8OGMnnYbRnAuSEsMJjnC8CGpZ1RMfH8cGhvMr7eU/JnRwmrQoiXQjsFWhIpasrMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd/+y9UGEgxp4udK1qMezlxGyGIaDODXDzsxJAkAXa2+ASIweo6jqs4j9HMSSEhkjNds53f+CqnoZiRlNQgBRikjwOK2iXps8ob7gr1xuBdE85jaKvQIH6L1/SohwiblVk4eH9m5hJJ40UjhYC+H8siBGWspBd5HIwjgoaQ4UQqgY3UDZIt+RmWQ/DpCFb08fgVpONONeyUty3aAmM0PjFeKhpeMUB+w7gbtS7SsWOSxHJtRyO0SgjriYpxsuu8vcPxzOtFmMNFbg/KJb+Wq9EsmTAojSQp8mqgqB558MfXd72aTh3Q53ltkfYJSliINdcBG4Z7uTi5pe27vxkdz/BjwF9ucxjQmgYcfeqxKIq1+uAbTUwK0YqWikL8D1g/IyynUEWvDsWpPb10njuizYJ/iEtdLTwLXhsyHvjoqJ2a04/ulRdfZ4qOgQ5uX1kXadyTHriQHxW2kEY668xAvQDpkwYEboB3KYro/XjxGnSFYRqeNErbTsVubQh6N+5XhN074paFindNH+uqjyDNlWgbIEiD2EBe1IGrYeGodhPT9LxKv58pL5rZ79WGpjg84XFPBHXkZU7GGZs7PExKJjWazHpXlDBF16FUU2wW3V+bgsCaZUlB87jSAhmbO6ZbiXmv46VHJ5/76oCmAKh//StYiG1mvPaRzHNbWHrXndVf5Pi8BbgIctjphJtZR9sgEd1tUR90pE+Xho5feVYI2RnCKNOHydzYl11Xf4csk3ELKAnOeIKJ/Y82gG8euot7g2Y3sU1LV526Z/18LFBagHZXqVA3yHWsQ0JuynKohQHRaHv+6wl2KkZzRCL9Zy8+yRZtBGYa1/5dZNihY+c+v/Kl6h39MBzY+4NwKh63672OBrJiJqt55hapVXNXCl89uXDxixZJn8ywS7rkYzvpLF+8p0uL/BZVXQl+F0eycAiYXeJjD02hQoMYywjzcu5d/VKiZTXSjEFidZHdUw31MIKqzTvjU0/Ks0EsToCr4etZOc0tOiAO75kgwVLMTSYLFsnb9xqJRRJeKJ2ttlaS7IhB/dhLCsCRMz4U66yNCrfR8Ssz33X8YiWgwps+TlEKtMO4DaWUnthHWjm7roa4+mlk9C7zP+UQ1EmPuHtYsMo8/vxeLXy017ZfEYrvN2kFkeDFHBBMJyAYqU9J7PKrSA2xrPwENa2PAQZzntl6O4cTjb5wzpZIWEj9f/Kh8xG5kDmmcZfA2DCc7gclIhQacblMifrNwJ2GuCbeG9hpJ6CGBEyxXs9t1axUvA7YxJmExNiMm1BP+ZXgx/x59Gnq78Jdjav9hrbkrhasIeltwfheiVkZi2sF9c7um47Bh8tVWzXuuTAU5/y0hX9DQ9poCi4n0DfFytrqleLaigVehELHb99vWjKQuFNvkeqFS13qjG6MFGxQIO+kancZ9bI9VMtVg3vKRzn8oErg1UxQ98Hhbdyzl716wxWhKGS5ezD3EU/CXKiWplgQiXisMgHD/c95pMRyRSEwclr8Qni54CE+okXbi8DCrBz1tTLuS1pSXbYZJSEGVpY62pTIWIulms+5UAVa7JoSE3KuZm/Mw8n1vYLvn7/Lx8bs8RCEQI/YYX7DHbfEE4gd1yKNV3PIo1G2gDZ5+WukYJvEMGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YPfW54gxbxr9GjNvkxzt4T",
      "input": {
        "note": "The arm has stopped descending (likely contact) but the lemon sits centred between the jaws in the wrist view; closing the gripper to grasp it at mid-height.",
        "targets": {
          "right_gripper": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01YPfW54gxbxr9GjNvkxzt4T",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.458, -0.0189, -0.0387, 0.9992, 0.3782, 1.7615, 0.8703, 0.0994, 0.2718, 0.1467, 0.2053]\nstate[eef_state]: left_x=0.2846 left_y=0.0015 left_z=0.163 left_yaw=0.0022 left_pitch=-0.0778 left_roll=-0.0024 left_gripper=0.9992 right_x=0.4247 right_y=0.1216 right_z=0.0476 right_yaw=0.0574 right_pitch=-0.1671 right_roll=-0.0788 right_gripper=0.2053\nstate[joint_eff]: [-0.1162, -1.2513, 6.9675, 1.746, -0.0806, -0.0659, -0.0122, -0.1162, -8.1436, 6.4889, 1.453, 0.149, 0.0855, 0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d82d9098a396028912b4641ed3360261dac94c0c14076f10a01ea1a966086d74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cffad34eb6e1153cebca43a0c824e1a77b1748ee71c9785a6095caa4f6404282",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c81761aff1a944935c0371ab889b3b0f2a5600403d6b998816c45ce40eeee492",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 8.499 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.3763, 1.75, 0.8806, 0.0139, 0.2707, 0.1574, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1676 left_yaw=0.0025 left_pitch=-0.0545 left_roll=-0.0027 left_gripper=0.9992 right_x=0.4147 right_y=0.1169 right_z=0.0421 right_yaw=0.0464 right_pitch=-0.2273 right_roll=-0.091 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.306, 7.0632, 1.7509, -0.0464, -0.0513, -0.0122, -0.1299, -7.9385, 6.6667, 2.0195, 0.0952, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4507, -0.0193, -0.0387, 0.9992, 0.3782, 1.7638, 0.87, 0.0547, 0.2691, 0.157, 0.9996]\nstate[eef_state]: left_x=0.2857 left_y=0.0016 left_z=0.1644 left_yaw=0.0025 left_pitch=-0.0705 left_roll=-0.0023 left_gripper=0.9992 right_x=0.4171 right_y=0.119 right_z=0.039 right_yaw=0.0509 right_pitch=-0.2121 right_roll=-0.0848 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.2923, 6.9812, 1.8828, -0.0415, -0.0024, -0.0122, -0.3624, -8.3761, 6.2564, 1.8974, 0.0904, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.458, -0.0189, -0.0387, 0.9992, 0.3782, 1.7615, 0.8703, 0.0994, 0.2718, 0.1467, 0.2053]\nstate[eef_state]: left_x=0.2846 left_y=0.0015 left_z=0.163 left_yaw=0.0022 left_pitch=-0.0778 left_roll=-0.0024 left_gripper=0.9992 right_x=0.4247 right_y=0.1216 right_z=0.0476 right_yaw=0.0574 right_pitch=-0.1671 right_roll=-0.0788 right_gripper=0.2053\nstate[joint_eff]: [-0.1162, -1.2513, 6.9675, 1.746, -0.0806, -0.0659, -0.0122, -0.1162, -8.1436, 6.4889, 1.453, 0.149, 0.0855, 0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d82d9098a396028912b4641ed3360261dac94c0c14076f10a01ea1a966086d74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cffad34eb6e1153cebca43a0c824e1a77b1748ee71c9785a6095caa4f6404282",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c81761aff1a944935c0371ab889b3b0f2a5600403d6b998816c45ce40eeee492",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS/QcKjgEIEhgCKkCPKPdUNuDPqkrDN4NNaIJjy0qFb5WmPQHRYfAKgXIXbLb07RwHNuzw5rL8uVmJDX1P4bzm8WnXoGgDDJO+r+AIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAej+y9UGEgy/BYLZeIoaxHHx4zoaDBs4J5WpsDgycgn8LCIwY+VDEtDvREAWAT/59hfdRAn50w92/tOoWsTStdHU0DpcE/w3UTKC2N3txUtqziCaKpsGQmAhJt2NTCAK7wJpVL1g6QeFkOwVjlGBHDT9HIT+vDbEw+99mORRuKINsGxwIXVtr3c0GWDNV23qNBp9lv0I8Q5wogKtmqG2/jSRw1iE4uUnmz0r/wt5l/rf7AanWk++x0lmUfHk8xR039LBwGI4JqVQ2cDbbS3L070jVrg4Qgf9YQ5Zj5NhLQFVuTtZlGGQySyETTQo6ZkKfrHIf8R3t2klo+ppVWVkuouNyuv4GUDRGbUjRBjrt6QBu1ug5kJh4wUG6x62GPQEImCz2JQb4ea/rVAV66JthFKC83zD/IdntfLuInJHG2MirfrgNtIxdl7ulcf6tDC/5wM6/u9zOhylpSprB8hvBCk6kxmMIpRIWdWMFzFqKf03cB2z+2OWhyqbntc+Ul/Bx7cIm7ywJGcXE4fTge+qxYU7GSoWpLg4hL2ypugtA+TbEmAe4g2SGsRAVyb03UVGVuBw6lRRRU/G0H2h9ebYBLbHuya0choAHphwj5HRPbWN70xnDPTrjbwusXUggd26L3RdwIG2tr2PAo7bfWBoX97y6DOmbgt9s2YGzEX6xbWJ5P8XeHh+J7kCwJ1CdR+L6aEwlMcetXFOzlrFlRLR+dvoRLnn2SRPUKeYzHE85VcoEkgRhVV2rEO+AttJJPkhIkXZk/G6ncnYoib0RQQ2tkFgj2Ha1hJ0IYGUsTClUWEyECxTmMrB18B/x5vRnIjPun6hw15Ucl6z3j5AsVZeWGAnwZKN2spgbO4Vh6YTQT2Pi/zuyvIDZ6QZwU60MgVSm8sioM7lxuJS8hyWhMf42B0OKdtIcSK4y/eDbQkV5jg3YKkicy+8z+3bdv1LzfuMB89aLjY/yyT38eiqXMzIpacKQt9G3CJVn9yAqnY/kH4rYtnyOtyd8Y5PvwQYxmGxlVgQRMp61TIF1AtlVsQ4YnJd41/d/ju55k14y0oH5LB9Z7BWpR6qcyaOoQIZgwNP8eaOf0BkuaZSDl3Ab5gcD5dsHGw5LVB9nOnimz82uaDvNxRbXfxZKBBAYS36xQ8ttgWeRfDedw2MBxjC4wAOCfrgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019LSr2wFuAtxW6ZbP5QVkVB",
      "input": {
        "note": "Gripper closed to 0.2 without stalling, which suggests it may not be holding the lemon; lifting 10 cm to check in the overhead view whether the lemon came with the jaws.",
        "targets": {
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_019LSr2wFuAtxW6ZbP5QVkVB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4587, -0.0193, -0.0387, 0.9992, 0.3782, 1.6176, 1.0878, -0.2966, 0.2684, 0.1383, 0.2037]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1628 left_yaw=0.0026 left_pitch=-0.0786 left_roll=-0.0022 left_gripper=0.9992 right_x=0.4221 right_y=0.1212 right_z=0.127 right_yaw=0.063 right_pitch=-0.2013 right_roll=-0.0935 right_gripper=0.2037\nstate[joint_eff]: [-0.0479, -1.2513, 6.9675, 1.6679, -0.0855, -0.0464, -0.0122, -0.294, -9.5111, 8.759, 1.6874, 0.0952, 0.0366, -0.1783]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be0ea0ea943e67e3e80ba61dc60edc46ead91b2428a8eb4ec242d7defec17f09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:232ee104cbb7ed3fba776c3dc39d498a6a8f63b489acad91c9667aafb434d8a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2ed4e09f6ef4c1ed0f4564668dc34c4b02309684648c05e8eabdac83c19d1384",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 3.904 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4507, -0.0193, -0.0387, 0.9992, 0.3782, 1.7638, 0.87, 0.0547, 0.2691, 0.157, 0.9996]\nstate[eef_state]: left_x=0.2857 left_y=0.0016 left_z=0.1644 left_yaw=0.0025 left_pitch=-0.0705 left_roll=-0.0023 left_gripper=0.9992 right_x=0.4171 right_y=0.119 right_z=0.039 right_yaw=0.0509 right_pitch=-0.2121 right_roll=-0.0848 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.2923, 6.9812, 1.8828, -0.0415, -0.0024, -0.0122, -0.3624, -8.3761, 6.2564, 1.8974, 0.0904, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.458, -0.0189, -0.0387, 0.9992, 0.3782, 1.7615, 0.8703, 0.0994, 0.2718, 0.1467, 0.2053]\nstate[eef_state]: left_x=0.2846 left_y=0.0015 left_z=0.163 left_yaw=0.0022 left_pitch=-0.0778 left_roll=-0.0024 left_gripper=0.9992 right_x=0.4247 right_y=0.1216 right_z=0.0476 right_yaw=0.0574 right_pitch=-0.1671 right_roll=-0.0788 right_gripper=0.2053\nstate[joint_eff]: [-0.1162, -1.2513, 6.9675, 1.746, -0.0806, -0.0659, -0.0122, -0.1162, -8.1436, 6.4889, 1.453, 0.149, 0.0855, 0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4587, -0.0193, -0.0387, 0.9992, 0.3782, 1.6176, 1.0878, -0.2966, 0.2684, 0.1383, 0.2037]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1628 left_yaw=0.0026 left_pitch=-0.0786 left_roll=-0.0022 left_gripper=0.9992 right_x=0.4221 right_y=0.1212 right_z=0.127 right_yaw=0.063 right_pitch=-0.2013 right_roll=-0.0935 right_gripper=0.2037\nstate[joint_eff]: [-0.0479, -1.2513, 6.9675, 1.6679, -0.0855, -0.0464, -0.0122, -0.294, -9.5111, 8.759, 1.6874, 0.0952, 0.0366, -0.1783]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be0ea0ea943e67e3e80ba61dc60edc46ead91b2428a8eb4ec242d7defec17f09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:232ee104cbb7ed3fba776c3dc39d498a6a8f63b489acad91c9667aafb434d8a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ed4e09f6ef4c1ed0f4564668dc34c4b02309684648c05e8eabdac83c19d1384",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwAcKjgEIEhgCKkDQL8uf23Da6wDoXIz1NimQL1nEDfxqF62gVUpQPpnu36J/htbmfjxaNcj0H/JBbk5Nck3P4pdNKcF4I9o5ltLaMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfD+y9UGEgwXDZZcqI+R1sqWJMgaDFsqsU42J/jnpIWB0SIwl0h6m8bjtszN/C/PRJT3f493VJgYJReztD2snKSGHA3/Mjthnx9nJ5Fya8ccaxq5Kt4FPEZyrC/xpIVzx0GhqSKqrpu9yX4UzVegJFIfbr2T9oPemPlFu2VFoUH64XAq2WFE9FlSSCUMrhdEOmhNt5M8l4PJ22YrjjOWpeTcIloOcs96cQRcOOYACVV29FQbK5uhhSTISPL1sUA5ndQagGwCCtnP6Cc2Mn8rycnt6ANQh4mKKJkeIQd4s10b1HqadyBh9KHEZ2Xq8Qih21R8oJrkafh6jkayGCcQuiPbgKa0US/ogF2vjMA+1GyHQ0Ce7EPXcxQmvbhUhWKeit4wq2CJVOl2QyJ6j1z1LE/7wimD0rr75RZ7slS4KZBPpx5FUj1C9tlpSDR2qoz0NH9pNzLFVFQ5lg6hQcOmjW1NUJ9Bao/IRwkVu+elb2nXGNyyRRhLvb1yETGALxNyLtScZQPz7BADUrIsfMhIet1LbOL/jTKkb0+Nyo5eQygZX7REjLgoMzcagx8HRUE830987persLDodOLfsqKJ73QhNOSG4a/p9PsbNH0/KecFblrDlPPeIu5Sm/VcYJ0ZnsDvlkm80QZ8TxoRcAK3Ea0prgR8ogfr2goc7MWZTnFxi25LDVGCpCZ7iZTs0ViHvKTSWt9zn6snEAqdWX5BP9dSAwm1JNbMlRBL3tyFgbJKPSRtreg9ZVAJglavRspNFJB9JsDnnnnLPfK1yD6PLkpktCtwd9uQ8ukc7PU/TUE8rlW4efnZVcTsPyh7EcnqD6enJ4AOlfti2vcAmjnjdrtrFuzmp8Z5y56TkRABAJWwGVlOnM2PbWldPrfGvTobVWn76090GM5ZVFFTyKsuzwoiMdmSxJa3Co+oXLMk066Umrqx6MGGist39HIc8ct3V/Cal8OqvT2xu+ROnPPmo3qicJ9D3/VGs6+QWrGdHx3oBGcXVSluPovtXDQKFEjkUNxWzuCd7ItJMz06kKWx5zsEEnBSuYpDXZaDa2EdSSQc0O7tijkX19uuDdlNzg7mBVasmCsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Mvb2LzKzotJaYHDvvKYhyS",
      "input": {
        "note": "Lemon is still on the table — the close missed it. Reopening and moving 2 cm further out and back down to table level for another attempt.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.445,
          "right_y": 0.125,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Mvb2LzKzotJaYHDvvKYhyS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4732, -0.0193, -0.0387, 0.9992, 0.3634, 1.8717, 0.9569, 0.0391, 0.2581, 0.1226, 0.9944]\nstate[eef_state]: left_x=0.2823 left_y=0.0017 left_z=0.16 left_yaw=0.0026 left_pitch=-0.093 left_roll=-0.0018 left_gripper=0.9992 right_x=0.435 right_y=0.121 right_z=0.0217 right_yaw=0.062 right_pitch=-0.2513 right_roll=-0.1123 right_gripper=0.9944\nstate[joint_eff]: [-0.1846, -1.2103, 6.9538, 1.79, -0.0464, -0.0415, -0.0122, 0.0889, -7.9248, 4.9983, 1.5946, 0.1343, 0.0464, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df8fdbec022d59f1c7b92a165055fe797a2742db7dfdc2861c17187b1e70c514",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f60f91bb53cf47df04fab24eebbf7ed013644ce1c98c642f0d1b8418de80707",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:84877a1f2f474b0c0ea0f9a785c8cadc21a3ea23a7a8fd29dbb16e02dddb196d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 7.515 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.458, -0.0189, -0.0387, 0.9992, 0.3782, 1.7615, 0.8703, 0.0994, 0.2718, 0.1467, 0.2053]\nstate[eef_state]: left_x=0.2846 left_y=0.0015 left_z=0.163 left_yaw=0.0022 left_pitch=-0.0778 left_roll=-0.0024 left_gripper=0.9992 right_x=0.4247 right_y=0.1216 right_z=0.0476 right_yaw=0.0574 right_pitch=-0.1671 right_roll=-0.0788 right_gripper=0.2053\nstate[joint_eff]: [-0.1162, -1.2513, 6.9675, 1.746, -0.0806, -0.0659, -0.0122, -0.1162, -8.1436, 6.4889, 1.453, 0.149, 0.0855, 0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4587, -0.0193, -0.0387, 0.9992, 0.3782, 1.6176, 1.0878, -0.2966, 0.2684, 0.1383, 0.2037]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1628 left_yaw=0.0026 left_pitch=-0.0786 left_roll=-0.0022 left_gripper=0.9992 right_x=0.4221 right_y=0.1212 right_z=0.127 right_yaw=0.063 right_pitch=-0.2013 right_roll=-0.0935 right_gripper=0.2037\nstate[joint_eff]: [-0.0479, -1.2513, 6.9675, 1.6679, -0.0855, -0.0464, -0.0122, -0.294, -9.5111, 8.759, 1.6874, 0.0952, 0.0366, -0.1783]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4732, -0.0193, -0.0387, 0.9992, 0.3634, 1.8717, 0.9569, 0.0391, 0.2581, 0.1226, 0.9944]\nstate[eef_state]: left_x=0.2823 left_y=0.0017 left_z=0.16 left_yaw=0.0026 left_pitch=-0.093 left_roll=-0.0018 left_gripper=0.9992 right_x=0.435 right_y=0.121 right_z=0.0217 right_yaw=0.062 right_pitch=-0.2513 right_roll=-0.1123 right_gripper=0.9944\nstate[joint_eff]: [-0.1846, -1.2103, 6.9538, 1.79, -0.0464, -0.0415, -0.0122, 0.0889, -7.9248, 4.9983, 1.5946, 0.1343, 0.0464, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df8fdbec022d59f1c7b92a165055fe797a2742db7dfdc2861c17187b1e70c514",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f60f91bb53cf47df04fab24eebbf7ed013644ce1c98c642f0d1b8418de80707",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84877a1f2f474b0c0ea0f9a785c8cadc21a3ea23a7a8fd29dbb16e02dddb196d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvwIKjgEIEhgCKkA2fc12RXvoEhVQf5BUKSSXNDk47Ph1xzw+ntScW2UVI0yQ2EZgNUwu3FTYV+yYmg0fzJdVIeHuMHCZgf5t0jSxMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfb+y9UGEgxje4PvwTR1OdxP/R4aDBhRe4QZ6RjmpysbYSIwnq7AlTkqYi5vAoc83wtdtNjdTBpFKvaqa7Nu0G1seKuaLovFchjmh9znsY+jv4+TKl62tJSz1c4m0pu3VXFHliDcIlsKqaaqfrcmrD9xNQLi3aL3v01g1KOZ/gP/VVKfwg002azLb4s6ecFgcr/qGAYBjTxeh9X0vlYJbYtVlrHZM9mvRerqeIhLMfuxEKIjGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0172aFCnxBP7yHsneMScQnjR",
      "input": {
        "note": "Lemon now sits squarely between the open jaws at table level; closing fully to grasp it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0172aFCnxBP7yHsneMScQnjR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 0.3603, 1.8927, 0.9489, 0.0277, 0.2501, 0.1196, 0.5193]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1587 left_yaw=0.0023 left_pitch=-0.0999 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4285 right_y=0.1186 right_z=0.008 right_yaw=0.0641 right_pitch=-0.292 right_roll=-0.1205 right_gripper=0.5193\nstate[joint_eff]: [-0.0752, -1.2103, 7.1453, 1.707, -0.0464, -0.0366, -0.0122, 0.1299, -10.7692, 6.1197, 1.4823, 0.1148, -0.0269, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84991a9c74ce72748308f5ffcfcb1f0018c184fe4ddab245dc1fd1bea652311e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a27c1ed386ed949b1d6944c7dfc53b1d5880a02e1b47b2084739838e778f4a8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5ac5ce4f519142d01a41d5146a7cac5d86be7c76e548fa00c6c67575cb54ae32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 10.15 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4587, -0.0193, -0.0387, 0.9992, 0.3782, 1.6176, 1.0878, -0.2966, 0.2684, 0.1383, 0.2037]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1628 left_yaw=0.0026 left_pitch=-0.0786 left_roll=-0.0022 left_gripper=0.9992 right_x=0.4221 right_y=0.1212 right_z=0.127 right_yaw=0.063 right_pitch=-0.2013 right_roll=-0.0935 right_gripper=0.2037\nstate[joint_eff]: [-0.0479, -1.2513, 6.9675, 1.6679, -0.0855, -0.0464, -0.0122, -0.294, -9.5111, 8.759, 1.6874, 0.0952, 0.0366, -0.1783]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4732, -0.0193, -0.0387, 0.9992, 0.3634, 1.8717, 0.9569, 0.0391, 0.2581, 0.1226, 0.9944]\nstate[eef_state]: left_x=0.2823 left_y=0.0017 left_z=0.16 left_yaw=0.0026 left_pitch=-0.093 left_roll=-0.0018 left_gripper=0.9992 right_x=0.435 right_y=0.121 right_z=0.0217 right_yaw=0.062 right_pitch=-0.2513 right_roll=-0.1123 right_gripper=0.9944\nstate[joint_eff]: [-0.1846, -1.2103, 6.9538, 1.79, -0.0464, -0.0415, -0.0122, 0.0889, -7.9248, 4.9983, 1.5946, 0.1343, 0.0464, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 0.3603, 1.8927, 0.9489, 0.0277, 0.2501, 0.1196, 0.5193]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1587 left_yaw=0.0023 left_pitch=-0.0999 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4285 right_y=0.1186 right_z=0.008 right_yaw=0.0641 right_pitch=-0.292 right_roll=-0.1205 right_gripper=0.5193\nstate[joint_eff]: [-0.0752, -1.2103, 7.1453, 1.707, -0.0464, -0.0366, -0.0122, 0.1299, -10.7692, 6.1197, 1.4823, 0.1148, -0.0269, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84991a9c74ce72748308f5ffcfcb1f0018c184fe4ddab245dc1fd1bea652311e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a27c1ed386ed949b1d6944c7dfc53b1d5880a02e1b47b2084739838e778f4a8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ac5ce4f519142d01a41d5146a7cac5d86be7c76e548fa00c6c67575cb54ae32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStAYKjgEIEhgCKkBYIvRSAgiA4FZPrROWO2tHSUzcloMfh5eioWCHz0NexbEX5MtObp0IHvGjX9FRENwQFnuQEBGkly1WcV328jbSMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf/+y9UGEgzZyDYceoTtwtT3zIQaDGfIOPlGW85jESw2eyIwmEN2+0ZhFrhFJZXCqxxe4MB9PPWViIUY0bYU5ypbZAZ7WJZSdQP4JXJklkAjTHYSKtIEPs+imLgkTubmuzayi6t0KxpvRqey3QQgZqr/6L8xjGE2Ni/FE5Vu8JnKp+21slJi5lNxXsdc+iJ3uBYCkUBAupohkRUE/B4exD0TXHKILD+RXiCe//xF/Vsohl3nsoM/5YMayYyXLB+H3LK14yqU7SbItOuTFuA4hmkSfjEPB18T5Qeh65CAjc/0TS+o+A6EQw7NqCwtlvlLS7zntuszVrGY877+U5CdKcXcvc4BMDQ9XRT/D4D7T8OqdVRqQysZVV6n4NNY2C2lROT5KsLvhV3b8V319WMpAzxPREN1nt5ymPv+6QOw10IZNx9yRXqVeLOZmiZLylThC5JSQbmkAfFf9301S4hGzcLB2bD8IY7x5O/249WaGBswxfFu68ffXVN0cH+TV9MGU+JwW3iAHCgk/TTfG0TaeoO+vNJ1K8diZ9VimSbK2UUSR+avj2yt9h9iOJnoNKkO7U4au7vp82fACMoZ5u2k4r5qTa4AOumvMsoZuab8jJ8cGV6KjpsBW7HQ9BSfGMUxVQ2vx6MErUU79HHAHbIaktmGAvN1bFB+h6MjhwRPrgedXjgl4u1Rf9TyP8BZ1/x2uUHyzZaERxVCIuK/maPLrdsAgfzeHHLKpxJRRhRkZSQxaLDbPPOwU0INxWV9ZeP4ZE+PO63dp2gpg3K9xDT7sJB9wg2NVjbOqGr/ImLG8KIeNFz5FH8RcEZn/L3pn5Pa/VQL3aSD5xHpwP9FTtw+DFjWjqYDsucZ7FvuS3qKc5TuNKm8H/l+sb9j2HcVNkSNmA3qzN9fKTWxGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Y7WNvr2LZoMx2QgMvZdtTf",
      "input": {
        "note": "Gripper settled at 0.52 (~5 cm), so the lemon is grasped; lifting it to 22 cm to clear the safe walls.",
        "targets": {
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01Y7WNvr2LZoMx2QgMvZdtTf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4953, -0.0193, -0.0387, 0.9992, 0.3603, 1.6852, 1.5211, -0.7887, 0.2466, 0.112, 0.5199]\nstate[eef_state]: left_x=0.2788 left_y=0.0017 left_z=0.1558 left_yaw=0.0026 left_pitch=-0.1152 left_roll=-0.0014 left_gripper=0.9992 right_x=0.4271 right_y=0.1187 right_z=0.1969 right_yaw=0.068 right_pitch=-0.3284 right_roll=-0.1338 right_gripper=0.5199\nstate[joint_eff]: [-0.1709, -1.0735, 6.9538, 1.8242, -0.0464, -0.0513, -0.0122, -0.3077, -9.1692, 9.1556, 1.5653, 0.0952, 0.0073, 0.7497]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:117d27281c9dc7d2d4d5f0abf94065eaf2e70ae2439ecff7cede5d95c74f438c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ecc0ff51cd6220ff36b462d72522a10009bfeedcf3ff4d7d71ca298a1de64be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d47d7f15e9777a2e7e8029787da1b9908ee6332363bbf2bf55bba6c1de9e07c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 5.691 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4732, -0.0193, -0.0387, 0.9992, 0.3634, 1.8717, 0.9569, 0.0391, 0.2581, 0.1226, 0.9944]\nstate[eef_state]: left_x=0.2823 left_y=0.0017 left_z=0.16 left_yaw=0.0026 left_pitch=-0.093 left_roll=-0.0018 left_gripper=0.9992 right_x=0.435 right_y=0.121 right_z=0.0217 right_yaw=0.062 right_pitch=-0.2513 right_roll=-0.1123 right_gripper=0.9944\nstate[joint_eff]: [-0.1846, -1.2103, 6.9538, 1.79, -0.0464, -0.0415, -0.0122, 0.0889, -7.9248, 4.9983, 1.5946, 0.1343, 0.0464, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 0.3603, 1.8927, 0.9489, 0.0277, 0.2501, 0.1196, 0.5193]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1587 left_yaw=0.0023 left_pitch=-0.0999 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4285 right_y=0.1186 right_z=0.008 right_yaw=0.0641 right_pitch=-0.292 right_roll=-0.1205 right_gripper=0.5193\nstate[joint_eff]: [-0.0752, -1.2103, 7.1453, 1.707, -0.0464, -0.0366, -0.0122, 0.1299, -10.7692, 6.1197, 1.4823, 0.1148, -0.0269, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4953, -0.0193, -0.0387, 0.9992, 0.3603, 1.6852, 1.5211, -0.7887, 0.2466, 0.112, 0.5199]\nstate[eef_state]: left_x=0.2788 left_y=0.0017 left_z=0.1558 left_yaw=0.0026 left_pitch=-0.1152 left_roll=-0.0014 left_gripper=0.9992 right_x=0.4271 right_y=0.1187 right_z=0.1969 right_yaw=0.068 right_pitch=-0.3284 right_roll=-0.1338 right_gripper=0.5199\nstate[joint_eff]: [-0.1709, -1.0735, 6.9538, 1.8242, -0.0464, -0.0513, -0.0122, -0.3077, -9.1692, 9.1556, 1.5653, 0.0952, 0.0073, 0.7497]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:117d27281c9dc7d2d4d5f0abf94065eaf2e70ae2439ecff7cede5d95c74f438c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ecc0ff51cd6220ff36b462d72522a10009bfeedcf3ff4d7d71ca298a1de64be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d47d7f15e9777a2e7e8029787da1b9908ee6332363bbf2bf55bba6c1de9e07c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlQkKjgEIEhgCKkBD7CmmQAnzY2MU/inXvRNJ8etJs8wJl8m6S0GygGs2cBUc/fwN399LRbDIqzBNhWiJQTzDWJEry4xsGqLB3I9FMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYn/y9UGEgyep3ysdDXy4q71gi4aDEqbkf5xwOeZOkffXyIwly6XvjoALyXxF8IojIPJWsYgzTTXAoarBV8jPP+kXl8nHCpcrgJIMcwOVKpnOAa7KrMHnmtWAeB39+QDmW0mvF9r737LNUp8GJPFpfbFJXPyMzpC8JID6f31Ld4aBOiZjssT/BuTmloWiwteZIx/mrq5Onn1ZrvA/4M51DmItctmVc80JBIL5gpwQbEcSCMvMaG/SwEgBYRTbXsuZpk1SuwL9K85oCg7WyBx2f54OUvW+XORRS3xzNJdF0ztc9c9vOZGqOYV1vg5eqkEKE50Kt4hZU+bfy5OAX68UOlGuga5ek9ckYV5ILmqvYv56wovSPDEE7u07d0iK1G145c1s42Ly64fRB7+wQET0Hr+T6Vvbi9xeL42CMyEMCi7d8IrDs0nS5eK6EwTYrx2EdKnUMq8x1Q5KW543BTjeDRW/ctvBt0jRWL6McHmZAhyHcuaEgbeVGcc2g4k7cKbW/ClmwHpT8hducED7nBdiC/AD3b8qwu5HM5wUJpdHjB6lrfVeH42EkB7Yi4bBw0QLlsHRCG3H8j5MVb8jNmuc/rPC9vq/6LsMGfdlG/RYH3WIx6DJLj7wc1Ct0dx3NQLVT+zSJmhxfwbGpMUszQY0nkWtlntw2kbzSIeMWJxy2HBFl7c4x3y6hVoX9n6ptOehFO+Pa7uPAZ/rAc0J0MFfoZXZzDWHxJSV2hO1JIcX7fP5O7azfbwAexHYQ8vd7Pive2MafeyyY8VpyEBGuLnaqfN069npLpYrbfNmXIHir7sDRiNlaWbobRdaMwEAaSL0/qE4LiSUGuYXny+hRDs87n1Xz6Y9QKLl+dwshaT1lHVLg6Nm99bI95x7ERAIk/T+GJKGzbZ5Ic2OFksPEUldl0LIOGOpdviACtrTbJQW0uiahQ7YxLGj+8ZNAPoqM81hCBwI15XfoiY67x3I5qMrRE6xkdfelBEBn2Awj9yrf5tDcDnve36u0p3jBL6htaTv8m8HEShhacyJNndSaEashX53aDQxz9RA0VXoQy5aApLFe9QmzZnoxJ3PF1oSxCCtJH0uVGFp4SAs1Gdmhi35mKPXnKmb+7aQ3Khk5qhbA0CHh8eMOxiBkWotFIL2CUMTNtLzoEkzaIpMwj7HV/fwdybLaVN/ImyE8rH9HpQGKyfUK9Ap02MBsirujFyw15bz6lrnFPhwraJGuTcIku+aMsjuVgoAbKdMFemEWoZVg29tvpkcvxCKmDw/u8857DA63NPyudd7r09oXFWItGG+xCd6wca7gFddeb4+HwRm87lvTQH/fuEL7WYTdPLlhYU3gzaRPWVM0Bs8nyC0oQTBbIZxd91VpOA5TwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MjBfNzevY5sNngw3gbDtjJ",
      "input": {
        "note": "Carrying the lemon at 20 cm; translating left over the open safe's interior (estimated right_y≈0.26) before lowering it in.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.26,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01MjBfNzevY5sNngw3gbDtjJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5117, -0.0193, -0.0383, 0.9992, 0.6453, 2.1021, 2.1654, -1.1183, 0.3809, 0.3279, 0.5225]\nstate[eef_state]: left_x=0.2762 left_y=0.0018 left_z=0.1527 left_yaw=0.0025 left_pitch=-0.1316 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4447 right_y=0.2571 right_z=0.2115 right_yaw=0.1019 right_pitch=-0.3593 right_roll=-0.1513 right_gripper=0.5225\nstate[joint_eff]: [-0.0205, -1.1966, 6.9538, 1.7998, -0.0708, -0.0269, -0.0122, 0.253, -11.1248, 8.0889, 1.1306, 0.2515, 0.3053, 0.5299]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fd0afdf67921a0d615ffb420ba171f010087a6d83ce4da0ceb1b1c4211b9f69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4df82f253abd7c85ed9fb5cab3a74cc866279a07f37b1159c4c798cdf9b443b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b454c877600556a7d464d54eed284f87ee731210c05c6805297747660cca8512",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 3.604 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 0.3603, 1.8927, 0.9489, 0.0277, 0.2501, 0.1196, 0.5193]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1587 left_yaw=0.0023 left_pitch=-0.0999 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4285 right_y=0.1186 right_z=0.008 right_yaw=0.0641 right_pitch=-0.292 right_roll=-0.1205 right_gripper=0.5193\nstate[joint_eff]: [-0.0752, -1.2103, 7.1453, 1.707, -0.0464, -0.0366, -0.0122, 0.1299, -10.7692, 6.1197, 1.4823, 0.1148, -0.0269, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4953, -0.0193, -0.0387, 0.9992, 0.3603, 1.6852, 1.5211, -0.7887, 0.2466, 0.112, 0.5199]\nstate[eef_state]: left_x=0.2788 left_y=0.0017 left_z=0.1558 left_yaw=0.0026 left_pitch=-0.1152 left_roll=-0.0014 left_gripper=0.9992 right_x=0.4271 right_y=0.1187 right_z=0.1969 right_yaw=0.068 right_pitch=-0.3284 right_roll=-0.1338 right_gripper=0.5199\nstate[joint_eff]: [-0.1709, -1.0735, 6.9538, 1.8242, -0.0464, -0.0513, -0.0122, -0.3077, -9.1692, 9.1556, 1.5653, 0.0952, 0.0073, 0.7497]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5117, -0.0193, -0.0383, 0.9992, 0.6453, 2.1021, 2.1654, -1.1183, 0.3809, 0.3279, 0.5225]\nstate[eef_state]: left_x=0.2762 left_y=0.0018 left_z=0.1527 left_yaw=0.0025 left_pitch=-0.1316 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4447 right_y=0.2571 right_z=0.2115 right_yaw=0.1019 right_pitch=-0.3593 right_roll=-0.1513 right_gripper=0.5225\nstate[joint_eff]: [-0.0205, -1.1966, 6.9538, 1.7998, -0.0708, -0.0269, -0.0122, 0.253, -11.1248, 8.0889, 1.1306, 0.2515, 0.3053, 0.5299]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fd0afdf67921a0d615ffb420ba171f010087a6d83ce4da0ceb1b1c4211b9f69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4df82f253abd7c85ed9fb5cab3a74cc866279a07f37b1159c4c798cdf9b443b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b454c877600556a7d464d54eed284f87ee731210c05c6805297747660cca8512",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0AQKjgEIEhgCKkCu7r9IpTquZvvE9pxsL0yLCsVJexEqupSjQ7k59m00vgq7yLU+2Wogt7T8jztjZSgZSXUzvnyKXjFwzBx5n7/jMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZD/y9UGEgwZhjLHWeDlOlJso3AaDHzf2n4u33H3dPzN2SIwrDgihA6ngawmD32gNRrUnuN5ALGaDtUoRhh4pJ7xfFizOxYmGJpXUoVCCigg3XRXKu4Cix+GOortSGCspzyLCfEAmREkeAPGw+kkmTKSakck2UbtDWQpLuKnnpBvRpDNZzZleCDl7kk/03GuIJbkFERXwAJgJay3NvJ9U4rS4v8WpOGDu5d1tX1bY/k3qBJrcRnHyQtrxiqtIYjB3DCVXivlnuuaqS1+HhSuimoY96DANsPtLlcFVVBClohIj2Z9Vt5bOwg3qUH0bvF//QHh6REzn8lXvv06apRwVluRxeBEf2Z8lWK8ykMVVRjfOnGPSLSf/0L1Yh0F333ScClgA+IVj+7AQJN28LkRB/NXyGnBYWVl4il9ODEO9AiX2cSAEeowKIQ+Gn335l8NIdt+NIwdT/ofXwB8usgHsWe+MrM00y/1EMrCl+mgno7btreXVoO2a8Mgyf8+4i6hoCEwLzBlZhNwBfZsFPHP35Gg0vtTHnwhNwTXzbTu3Nr39CPOAgtFNvhhALSwItZykFf2ccG6i4RUWL9yZyMcwds9OWuRGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GuMoFP575G5JSvryMexLCQ",
      "input": {
        "note": "Wrist view shows the red safe interior ahead; lowering the lemon to 13 cm, just above the safe's interior floor, before releasing.",
        "targets": {
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01GuMoFP575G5JSvryMexLCQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.519, -0.0189, -0.0387, 0.9992, 0.6468, 2.0739, 1.776, -0.8574, 0.3767, 0.329, 0.5246]\nstate[eef_state]: left_x=0.2751 left_y=0.0017 left_z=0.1511 left_yaw=0.0024 left_pitch=-0.1396 left_roll=-0.0011 left_gripper=0.9992 right_x=0.4309 right_y=0.2485 right_z=0.1145 right_yaw=0.0835 right_pitch=-0.4466 right_roll=-0.2044 right_gripper=0.5246\nstate[joint_eff]: [-0.1299, -0.9915, 6.9538, 1.6484, -0.0513, -0.0269, -0.0122, -0.1983, -13.2171, 7.1726, 1.3455, 0.2027, -0.0513, 0.4518]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1af1648850c2f41f0edec24347782939f0e02e3afeef68027868bc57fee97ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8970fe6e7e7ff1081d58a732f9a7e46882f32e79c5aa39e2c980908bcf56366e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ee953cb89070531ace107f56176f914b8421925ac184265884536f3f61eef57b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 15.5 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4953, -0.0193, -0.0387, 0.9992, 0.3603, 1.6852, 1.5211, -0.7887, 0.2466, 0.112, 0.5199]\nstate[eef_state]: left_x=0.2788 left_y=0.0017 left_z=0.1558 left_yaw=0.0026 left_pitch=-0.1152 left_roll=-0.0014 left_gripper=0.9992 right_x=0.4271 right_y=0.1187 right_z=0.1969 right_yaw=0.068 right_pitch=-0.3284 right_roll=-0.1338 right_gripper=0.5199\nstate[joint_eff]: [-0.1709, -1.0735, 6.9538, 1.8242, -0.0464, -0.0513, -0.0122, -0.3077, -9.1692, 9.1556, 1.5653, 0.0952, 0.0073, 0.7497]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5117, -0.0193, -0.0383, 0.9992, 0.6453, 2.1021, 2.1654, -1.1183, 0.3809, 0.3279, 0.5225]\nstate[eef_state]: left_x=0.2762 left_y=0.0018 left_z=0.1527 left_yaw=0.0025 left_pitch=-0.1316 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4447 right_y=0.2571 right_z=0.2115 right_yaw=0.1019 right_pitch=-0.3593 right_roll=-0.1513 right_gripper=0.5225\nstate[joint_eff]: [-0.0205, -1.1966, 6.9538, 1.7998, -0.0708, -0.0269, -0.0122, 0.253, -11.1248, 8.0889, 1.1306, 0.2515, 0.3053, 0.5299]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.519, -0.0189, -0.0387, 0.9992, 0.6468, 2.0739, 1.776, -0.8574, 0.3767, 0.329, 0.5246]\nstate[eef_state]: left_x=0.2751 left_y=0.0017 left_z=0.1511 left_yaw=0.0024 left_pitch=-0.1396 left_roll=-0.0011 left_gripper=0.9992 right_x=0.4309 right_y=0.2485 right_z=0.1145 right_yaw=0.0835 right_pitch=-0.4466 right_roll=-0.2044 right_gripper=0.5246\nstate[joint_eff]: [-0.1299, -0.9915, 6.9538, 1.6484, -0.0513, -0.0269, -0.0122, -0.1983, -13.2171, 7.1726, 1.3455, 0.2027, -0.0513, 0.4518]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1af1648850c2f41f0edec24347782939f0e02e3afeef68027868bc57fee97ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8970fe6e7e7ff1081d58a732f9a7e46882f32e79c5aa39e2c980908bcf56366e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee953cb89070531ace107f56176f914b8421925ac184265884536f3f61eef57b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxgIKjgEIEhgCKkBCe9a0JJOrcXYvMh+KnaD/IRtDqfgeL0Q9ACZSYhulu+bqDYl7e/uWy4KvCODWMppfjiNG4RI8bSC+bIIQUWzpMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZT/y9UGEgyo/OP6OyymZGAt1yUaDHRJFORptnQNnC0/cCIwheais/spjR5QNYwnRws+iyEyf2X4lTMAfZKPIuqpoZaX+jpkeNEXqBl3LQcbw82fKmXnB5sxCp1IcgXVkQ8n9yhJNCQARsF7X4mC8FFXMJzXXR68zDs/l2fgYz/BAXIZ5ygJmw/POA/OmOpsPwZiJwBPdv5uFBpe+vNlduQzQekd1WvUVt8oISj5b51fKnrhYTtUaiTFqxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017GYTU9SFR9tUGgCaykj5hJ",
      "input": {
        "note": "Gripper is inside the safe's red interior; opening to drop the lemon in.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_017GYTU9SFR9tUGgCaykj5hJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.5255, -0.0193, -0.0383, 0.9992, 0.6468, 2.0739, 1.755, -0.8585, 0.3767, 0.3187, 0.9947]\nstate[eef_state]: left_x=0.274 left_y=0.0018 left_z=0.1499 left_yaw=0.0025 left_pitch=-0.1461 left_roll=-0.0004 left_gripper=0.9992 right_x=0.4268 right_y=0.2454 right_z=0.1071 right_yaw=0.0839 right_pitch=-0.4665 right_roll=-0.2234 right_gripper=0.9947\nstate[joint_eff]: [-0.0479, -1.1966, 6.9128, 1.6337, -0.0806, -0.0122, -0.0122, -0.3624, -11.4393, 8.0342, 0.9402, 0.1392, 0.0659, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d77fb49cb1a261d57aaa1ac1d02be6dbe026b0bb93ddfaf8c2dec300822ec485",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d4ba686d8d871979d8f6dadcfabe2ac794118154ebb368ff799a04727d08a3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c2c9ec37a311b92c78a4e68b0ccaa2d129fd1a955b7b28203b65b78d4bc56ac8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 10.57 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5117, -0.0193, -0.0383, 0.9992, 0.6453, 2.1021, 2.1654, -1.1183, 0.3809, 0.3279, 0.5225]\nstate[eef_state]: left_x=0.2762 left_y=0.0018 left_z=0.1527 left_yaw=0.0025 left_pitch=-0.1316 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4447 right_y=0.2571 right_z=0.2115 right_yaw=0.1019 right_pitch=-0.3593 right_roll=-0.1513 right_gripper=0.5225\nstate[joint_eff]: [-0.0205, -1.1966, 6.9538, 1.7998, -0.0708, -0.0269, -0.0122, 0.253, -11.1248, 8.0889, 1.1306, 0.2515, 0.3053, 0.5299]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.519, -0.0189, -0.0387, 0.9992, 0.6468, 2.0739, 1.776, -0.8574, 0.3767, 0.329, 0.5246]\nstate[eef_state]: left_x=0.2751 left_y=0.0017 left_z=0.1511 left_yaw=0.0024 left_pitch=-0.1396 left_roll=-0.0011 left_gripper=0.9992 right_x=0.4309 right_y=0.2485 right_z=0.1145 right_yaw=0.0835 right_pitch=-0.4466 right_roll=-0.2044 right_gripper=0.5246\nstate[joint_eff]: [-0.1299, -0.9915, 6.9538, 1.6484, -0.0513, -0.0269, -0.0122, -0.1983, -13.2171, 7.1726, 1.3455, 0.2027, -0.0513, 0.4518]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.5255, -0.0193, -0.0383, 0.9992, 0.6468, 2.0739, 1.755, -0.8585, 0.3767, 0.3187, 0.9947]\nstate[eef_state]: left_x=0.274 left_y=0.0018 left_z=0.1499 left_yaw=0.0025 left_pitch=-0.1461 left_roll=-0.0004 left_gripper=0.9992 right_x=0.4268 right_y=0.2454 right_z=0.1071 right_yaw=0.0839 right_pitch=-0.4665 right_roll=-0.2234 right_gripper=0.9947\nstate[joint_eff]: [-0.0479, -1.1966, 6.9128, 1.6337, -0.0806, -0.0122, -0.0122, -0.3624, -11.4393, 8.0342, 0.9402, 0.1392, 0.0659, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d77fb49cb1a261d57aaa1ac1d02be6dbe026b0bb93ddfaf8c2dec300822ec485",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d4ba686d8d871979d8f6dadcfabe2ac794118154ebb368ff799a04727d08a3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2c9ec37a311b92c78a4e68b0ccaa2d129fd1a955b7b28203b65b78d4bc56ac8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISkREKjgEIEhgCKkCftH/MucRCCzfeRD6S4mBSY+9mmDZ8WBFpga5gG1g7xNeOIbr/wzDiP5dlmP3LfXyX1jPiKcTBaSJpBIzR6nbzMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaT/y9UGEgxiPuxinZPa5Zfmy6waDP5xVRn5TVqhKZF78CIwhZlXQQfDVDpjdfzv7tu3eU/7cEEFp/UEQGpdphkBs+/I0ozU58xsICwM1AaDWMWkKq8PW/8NmrYy5tU4W15phj7cHRkNUEUVD0is/kT9updNSCVJBFbcr2BpJJ2UAbIhmE9wPzDGwfxfNFzcJl4YEacZOUcnAcGu1NAoa30ISWXG48DWg1CFk+JSxyP39Vr2Vg2sH1+U2JR+VsZ8Xej2Kn+jNRWyCCM6h1iCFHf3SK1VnZny1CJnVpRyWSo9zelKqhPjAnntaGi78Ht/78aAhnvjEqbN3E4agzMR0gDQfgh/3AxqNfg7UG+CLaxNK9HrMNvZQ62RZldEeIV0B+0sAdPK3otFTa67YDII8mw3xF18tGzVr//RzrneHRgA24p/NYQPqf0ujoAuXMU0RZXGIj1pDDDsq6HtB3xxHPA6pVM0lot0+5kGKP13FrKDzDl7pU0LAWnll6hc07t63bdj0xQRYEYkrJg3CxJXIYoia3LUr//KF4fvAS8UFzZOQU+NrGpftPuR/iKswwBTKEpVh4LMYgbFJCACB7S3EwuEvJuhS4xzwxaNeSMzDxXdIyqDFWnm7C7vBKbVLfB/PLoSY/tPBG+5ofBo26MQD90Dpcv+OOR4Yi/I3QZDWasg3ldijmDIZnJDwadBQtbD8eyHZn0qjI5ngdQ3t9PRxU66//V6nQ0XOOvKeyGywZvuVoRwL6IQyGXo+Nf0jgYzJrHsdIdcShJ60qWAnbB87tmGwkTpWzukgKM6xXByw7TU98jdjqCDq++OoSLCqOi+38omSQ4LRSXR7kkb3ydzMel3frSUA3enruaFcyqU08Akn7a/Rnqo/gTiiKIo3RQMgSu3TqM0hLUXDHvwJC4+ffHkbMmrF6ItvliNtjXLtjCa4Ebe+Fv8mAsHGYTJgkUSY2erupWpkUoOMQKlknwt0WTLG1kuzuuv+eAOBQdLeOLRMIzxsVbZoC7ZvPv4vmxwm7ObThXnTXesHiJIzoD0tA5/1ra8KTpk59zon955MyBgrR/0hzSGe2uYJxLX17coSU+37a0KtEx9T7yiTdFKC73pHgt2OM7S9mO638+YAKV+h+f2cGFl3XXxS0GXjCFxL0DHRUdl7uVdHQ/ySPx7Ona5Ry6DMfcl/QT5hNNiTQqIuhGe2hbEqOUuszzBuev16V6nvTBjS/emkpX+hr+SUrxUnNxxStZEAwnuleR0GG6gWtmNiMl0IKITxPT/EfC7KP0i09UCoegbRBQis2gyn4lIsx9ytWZhwmjNe5jFP+IpvHgtDZtQWCLVXqNbCa5vtED2TSnVaBsjoIbtz2wQjeI6Vk6cxzLsr+0gd6JvJ3doTiOqN86axjKPr8NFuWkU7xuvwVz8Phfv18RDitPOgQ6gHb8Whh+IlGgpinQQXG17FJ2t+JidbveVXqHgUPET0fZwhi3PnmeMS+EH+dGD/1H7Zd+ash3bh6bpC1fhpKTrCgCf3DTVI65r+x6yHM8xHkHNk80VDx2X0wDtE0VSdBEtaM7BROedkQDN/84VmHcVIovKeEqcXC39FK65pqS5V0c0SLkdcbwAMgVvifakhZsp7mTivNeT1F15Bk8WEPrcJZvIKUHqfgV0a/jTM/ucusGs8kx7Qu3mt0ZVkGlVzBSaiTd0k7brv+A60WBqBSHbX8gFdFU0flGmFNm873bkeJWlvedODmXWbSZEkhKShn6UTIL4LUvUdMvVS34rl6G/qFRaErPojQHWg9T7wcrg3TNDHXres/u7RiF1B53cXjRMF867g6zMX1MxgwjEUr06XvCmj+t8yYoBFoCtQDhGTawv06FBPM3OqxRrVfcS73pzvrk17bHUfZBN8ba7jv8q/meMe8xHvWE/aIQud6r5rqlkfqrftwHwJs59Q2DSiTumBvj5I5xip0KNNxgwn2WkHHwCtaOFY3GsFHwWWJzzmGsZx1GR03rhPz5KsXPDnEcTahZm2BNRmrkgW+DLNbRqLvv4IegidJHSK1iO/bIqx5XD7q6hmIac2s87jLBDvA2MFEsGnOBwIwOeDR4jsAb4MdCtBpH/uD2CSHPejCKyrtsjKSeu4TpsunH9gkxO3Ji2Ppuzjs23TRLozECuArm40vBXsjjfFxVvnzOovXId8hffzofQyY9VNCJ32LDnCHRJyR5ha+iwTQPGo8lTLM8u/sMycdI46IcxfTkIT0Ee/+MFuCeYLzmTj59aZi9/5xtSw5xZcgIe2ys+IZlKJ2rlNOP+lYHXSOitjgFkyx6+Ag2OVrYoRK6kQLHlAow80WMOVzahEhwsIPpz8kmTFqajR2w9UvWxI9OG4W5xQpNtyjZpnrrZiIpUy3gVeFD1dgKCXopzfx71jDDSM0KodlSxM2DM3KJFPpUj6m+acPYQsW85ezFG3l4WoFA7rQr8cB0LFk7+rA/wVAGQ1fA1m65mmegUmWR1/JNiQHNKyHqR5iTLw7LeA6yl8uRjKCPMRP0qGYGrADbOEP+A9SVp7DSjZK7RHx5dn61XMPxQpHVNP94T/tquGA68iEbfTrbqbgWgVIc4w7kMPUsybuCPP9p5Krizd2UV5kFI/1CIfPHmbh2pahapiWRLumgO6jXRCLvPvpd0mBlyEc7mfL68G1dpY5zQhPLeEeZcpwYXotCudXtEmow5kEeGuB2kDmRIg1+PvVZlsAYkv0ihNOo3QlhxVdidkVUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FQS1obKFicbss1NGE3JquV",
      "input": {
        "note": "Lemon is in the safe; raising the right arm out of the box before going for the teddy bear in front of the safe.",
        "targets": {
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01FQS1obKFicbss1NGE3JquV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.54, -0.0189, -0.0383, 0.9992, 0.6445, 2.2608, 2.6266, -1.5585, 0.3698, 0.3138, 0.9953]\nstate[eef_state]: left_x=0.2716 left_y=0.0018 left_z=0.1473 left_yaw=0.0022 left_pitch=-0.1606 left_roll=-0.0003 left_gripper=0.9992 right_x=0.4215 right_y=0.2414 right_z=0.2412 right_yaw=0.0858 right_pitch=-0.4834 right_roll=-0.2292 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -1.1692, 6.9675, 1.7118, -0.0269, -0.0366, -0.0122, -0.7043, -15.2684, 5.4222, 1.0281, 0.2125, -0.1148, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:041370b9dcc9802b5376a018a1b65d98e92beb93fc95f7a84d10ff2c33e8d23d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fda991326405377318d1ff8ba40fbfb841ea677d23968978fc5cdb6150cfc620",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:985a0e65b450bbf63de44f3147dffa297ae3375340c18897c87faeacd9cdbf99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 6.037 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.519, -0.0189, -0.0387, 0.9992, 0.6468, 2.0739, 1.776, -0.8574, 0.3767, 0.329, 0.5246]\nstate[eef_state]: left_x=0.2751 left_y=0.0017 left_z=0.1511 left_yaw=0.0024 left_pitch=-0.1396 left_roll=-0.0011 left_gripper=0.9992 right_x=0.4309 right_y=0.2485 right_z=0.1145 right_yaw=0.0835 right_pitch=-0.4466 right_roll=-0.2044 right_gripper=0.5246\nstate[joint_eff]: [-0.1299, -0.9915, 6.9538, 1.6484, -0.0513, -0.0269, -0.0122, -0.1983, -13.2171, 7.1726, 1.3455, 0.2027, -0.0513, 0.4518]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.5255, -0.0193, -0.0383, 0.9992, 0.6468, 2.0739, 1.755, -0.8585, 0.3767, 0.3187, 0.9947]\nstate[eef_state]: left_x=0.274 left_y=0.0018 left_z=0.1499 left_yaw=0.0025 left_pitch=-0.1461 left_roll=-0.0004 left_gripper=0.9992 right_x=0.4268 right_y=0.2454 right_z=0.1071 right_yaw=0.0839 right_pitch=-0.4665 right_roll=-0.2234 right_gripper=0.9947\nstate[joint_eff]: [-0.0479, -1.1966, 6.9128, 1.6337, -0.0806, -0.0122, -0.0122, -0.3624, -11.4393, 8.0342, 0.9402, 0.1392, 0.0659, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.54, -0.0189, -0.0383, 0.9992, 0.6445, 2.2608, 2.6266, -1.5585, 0.3698, 0.3138, 0.9953]\nstate[eef_state]: left_x=0.2716 left_y=0.0018 left_z=0.1473 left_yaw=0.0022 left_pitch=-0.1606 left_roll=-0.0003 left_gripper=0.9992 right_x=0.4215 right_y=0.2414 right_z=0.2412 right_yaw=0.0858 right_pitch=-0.4834 right_roll=-0.2292 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -1.1692, 6.9675, 1.7118, -0.0269, -0.0366, -0.0122, -0.7043, -15.2684, 5.4222, 1.0281, 0.2125, -0.1148, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:041370b9dcc9802b5376a018a1b65d98e92beb93fc95f7a84d10ff2c33e8d23d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fda991326405377318d1ff8ba40fbfb841ea677d23968978fc5cdb6150cfc620",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:985a0e65b450bbf63de44f3147dffa297ae3375340c18897c87faeacd9cdbf99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS/QkKjgEIEhgCKkCDSKRqadwj6z7Iv8tJ6srT4TY2M099CAWW6CeFh5lI1yJivI8RUSCw7ONV/EqaAqzwp8VFec4d4HYzJPKfExR+Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa//y9UGEgzPkLtD9/VoGWA2460aDASMMoFpYR3Uzv94EiIw23Cedb9k3GVSinaT/sFwgPVEwPD1EP6PnP0N2rs5r89cSokR0qiY+iIpDybG6jsOKpsIFfm1nces6Q2YWO+bqVvcMyavaD3NTQyWdlIzszhcnsmOJBsX1vEsHL4Z8GYC3E+lrqFGgO6TXefa6i3YgE6IdY0wLwEsTo0bHm/OKZv5GghybHx0bIKUDpqXNUj0Z2ClLY37LzcxB8byjR/ZiOItKdpL/pDS9IbHb+9GcV/iIi0nvBX5CzicjN7Z+DDmeGDtc+yDxL0RCv+g1e8aMMUfI8D54049i9Qo2dw56WtwTnwH1VbgOOyEG3jPj+7JgrqaiLkEppgr6/plNA0JSuvzPZEGwhh7bDgADMOtu0Rp5sUwUViGJWRIAxNr4p/bZDrCQLX8dtxMVYBzdvqmeEnxF/XGKZK467tE3m7ubtrNk0mIsPSnzFnUs2W1HVmcDxrC5+piTzaPYhL4Rn0KEgD9SalblH3T3w/dHoL7AbBIUi6YEOrKEIIPxLdBrhBSyTzQYdE4kLY2TmLyLGJNZ0p1+xtXwS8zySCiB54zx4Pw0v1FfdXhI5IYh+/gi4EctVnMu+6harNYeuBKrqHVo/nA3W1HlEeCoXHvk0H/PPx3LpibgmTSA+vgysMaoLTroWJADuPOMh9a0PY6uUkAtxUAjKagfykrA/4d6CWyn+oLnqdUcIVPMF2W0fChlto9EGJaCKn7IpenQp0pYppolRBpGXNuOJ4RmsMLec7GoBZ0htOW0wx8rXu8eeukOEjHBFMBBBtnyE/6oTQZNDD9O2RTeUhR0thykiZAaLfLq/33P4IHUzqlJ5gIXxO6XI/Kz9i3sNNW2uRoaCcEjhbqnZsKsVhmRzZ5gk5w1eBHNxz5Ey98OqdshAo4GryOj3NmeHUNfIywSDgEQD0kG6fVohNT+59ojd9rDtY9WACzQ3F+mZpgcLBUYaOlBTFjOYCq7bulaep9Un/AVHzWA7jio1LRZMuLWQlzd8TqrreA5Ov47vj1bIFeCYqFmGRIcNTrwDsRaxOKIpFusbK2U/yy5wsNLQcEIJ2+q74A4Vf+RDilrPXjsQeNQT1TwKgB8se+Zmhf4DHxlh/4hknLqyDJVhYdqH3rKNof0IHTD/dNyaJHgVNiKXtaa09PKYu9g8Kx2gYJIGn5Wnty+MgAsIsgL+VaAC+WB8HFW2mYL8bnBLRVCpFfDqNc2W1bw8eXQE+q0Lh78I3+L/e+Forax2a7OEilj8vXb8kg7s6ZY4af0bVteR4ROtF+n/fiwHoYKtmujpao6Bki4uxri7jQe7qjJMzYGuQzGaIk2+yWyKjDkYzD/z8KrljotFvp8vGrzmAmOIXiUWbxAXKBsMeInVcIOFxWKVnJn8fq+jjNsH+I5ZXFiDQS3s2qdfyXGV0oFjOShbtB8fFvfXlslXG5XBwEH+1SF2IG6yZMxLNDFJCj9EkbzlcQmuOR/5LPmVQQBhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RfQ7Va286xQ3yLdMVfsukq",
      "input": {
        "note": "Lemon is safely inside the red compartment. Now moving the right arm back toward the base over the teddy bear that sits in front of the safe, to line it up in the wrist view.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.28,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RfQ7Va286xQ3yLdMVfsukq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5411, -0.0193, -0.0383, 0.9992, 0.672, 2.257, 2.5931, -1.5951, 0.3698, 0.3191, 0.9954]\nstate[eef_state]: left_x=0.2716 left_y=0.0019 left_z=0.1461 left_yaw=0.0026 left_pitch=-0.1655 left_roll=0.0 left_gripper=0.9992 right_x=0.4059 right_y=0.2459 right_z=0.2304 right_yaw=0.0899 right_pitch=-0.5386 right_roll=-0.2674 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.5111, 6.8991, 1.5946, -0.0855, -0.0269, -0.0122, -0.4444, -14.2701, 5.3675, 1.0574, 0.2515, 0.1245, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afe876ba73624fbe40d0aa5d8ac2b9c91ac62aa5ac1bf203029e4f4be5dd9c93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42dfff817a8f1c728ba437313dea89417376d8043ddcfcac59415e58f5292ddb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:501868c8d0a3da7c5ce37252722e8f04a696280581bc355a6d3db1f1ed3f31ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 5.687 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.5255, -0.0193, -0.0383, 0.9992, 0.6468, 2.0739, 1.755, -0.8585, 0.3767, 0.3187, 0.9947]\nstate[eef_state]: left_x=0.274 left_y=0.0018 left_z=0.1499 left_yaw=0.0025 left_pitch=-0.1461 left_roll=-0.0004 left_gripper=0.9992 right_x=0.4268 right_y=0.2454 right_z=0.1071 right_yaw=0.0839 right_pitch=-0.4665 right_roll=-0.2234 right_gripper=0.9947\nstate[joint_eff]: [-0.0479, -1.1966, 6.9128, 1.6337, -0.0806, -0.0122, -0.0122, -0.3624, -11.4393, 8.0342, 0.9402, 0.1392, 0.0659, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.54, -0.0189, -0.0383, 0.9992, 0.6445, 2.2608, 2.6266, -1.5585, 0.3698, 0.3138, 0.9953]\nstate[eef_state]: left_x=0.2716 left_y=0.0018 left_z=0.1473 left_yaw=0.0022 left_pitch=-0.1606 left_roll=-0.0003 left_gripper=0.9992 right_x=0.4215 right_y=0.2414 right_z=0.2412 right_yaw=0.0858 right_pitch=-0.4834 right_roll=-0.2292 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -1.1692, 6.9675, 1.7118, -0.0269, -0.0366, -0.0122, -0.7043, -15.2684, 5.4222, 1.0281, 0.2125, -0.1148, 0.0513]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5411, -0.0193, -0.0383, 0.9992, 0.672, 2.257, 2.5931, -1.5951, 0.3698, 0.3191, 0.9954]\nstate[eef_state]: left_x=0.2716 left_y=0.0019 left_z=0.1461 left_yaw=0.0026 left_pitch=-0.1655 left_roll=0.0 left_gripper=0.9992 right_x=0.4059 right_y=0.2459 right_z=0.2304 right_yaw=0.0899 right_pitch=-0.5386 right_roll=-0.2674 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.5111, 6.8991, 1.5946, -0.0855, -0.0269, -0.0122, -0.4444, -14.2701, 5.3675, 1.0574, 0.2515, 0.1245, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afe876ba73624fbe40d0aa5d8ac2b9c91ac62aa5ac1bf203029e4f4be5dd9c93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42dfff817a8f1c728ba437313dea89417376d8043ddcfcac59415e58f5292ddb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:501868c8d0a3da7c5ce37252722e8f04a696280581bc355a6d3db1f1ed3f31ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7QQKjgEIEhgCKkB4Oda5tXDlEsdFRi8+XStQRQTyVh4QrFp7j9FMdDqSKNGbhxyK5Q3I/tP26Ba8tXZUu2J5s4OtpvyGzCOUr3SQMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbb/y9UGEgw2QONDxOGu0588fR4aDPDT2DTh6GWFr/+5dyIwyB09bp8k9uqpcgetUwGPgJe4YI3qpq955vnikqvPbOy376jLLYXst4uV16T0F8+eKosDsmPWeMcu2Xk5/GqXSL9SaY/v3+zr7+jaNfNg04AsjvRYm9jMhTacXVIhcujLMKtBblrZoUPcU7B9Xx8kLnahETaarFy/v15UKur2sj69bRZTa6v3aN4065XAe2u3XXrpM2h05SvZm5At2Z/JF036ngZjR6/0DqHyNUrsp2BC0kPf+NhoLty6FxmJMugObjMr7zE6JfzkYAVhsSdUbciwuZSf2F6DLBZkFhGKvSXrbZXY77243lt+kaK1Zo8BuUd7+nP02Bh1a0DwR07+e2rSmiqDssG52CVym9ZuQoaNrSg+fSTKkcbrk4X7hy9wUVhapyMDa/vC49xTBCxwR58Qvrp+Pyybe0jeMM3Unc5hB/L7OvSB3uf5rNPEL313oolbnvdnH20/Yi4Nn+5+uy1D3bm9os75ba1+nphXr1sWQnlMJP5BIt6owWBzX1wTXBnsOxvgREo+jYFZhMSnxp9KdD2Pq714V0mxTLMgCUPrT/7gieQzmwZzIvSxc6A9h7ip2U1XBEipx/KbfEAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Fyry82uu1zGMsHpsVoqqRK",
      "input": {
        "note": "The last move was clamped and the arm hardly retracted; re-sending the same target (with pitch reset to 0) to bring the gripper back over the teddy bear.",
        "targets": {
          "right_pitch": 0,
          "right_x": 0.3,
          "right_y": 0.28,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01Fyry82uu1zGMsHpsVoqqRK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5591, -0.0189, -0.0387, 0.9992, 1.071, 1.6779, 1.335, -0.7517, 0.8276, 0.5362, 0.9954]\nstate[eef_state]: left_x=0.2686 left_y=0.0019 left_z=0.1424 left_yaw=0.0025 left_pitch=-0.1853 left_roll=-0.0001 left_gripper=0.9992 right_x=0.296 right_y=0.2782 right_z=0.1802 right_yaw=0.1212 right_pitch=-0.0912 right_roll=-0.3265 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.1692, 7.0359, 1.746, -0.022, -0.0171, -0.0122, 0.2667, -10.0444, 7.0222, 1.3944, 0.6276, 0.1294, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20e8554574fc94b9a2203b0c2e03599f6ce663457b58a26274e6675b14fddd4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce53f47bd1b0709a5b8f05f719e5e308853f00c79f80a87166c23fde0df2fcb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0c44738eaf1eab0fb1de80039df84f0b71adf753e0970ff0e3c578674e7ebce5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 5.431 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.54, -0.0189, -0.0383, 0.9992, 0.6445, 2.2608, 2.6266, -1.5585, 0.3698, 0.3138, 0.9953]\nstate[eef_state]: left_x=0.2716 left_y=0.0018 left_z=0.1473 left_yaw=0.0022 left_pitch=-0.1606 left_roll=-0.0003 left_gripper=0.9992 right_x=0.4215 right_y=0.2414 right_z=0.2412 right_yaw=0.0858 right_pitch=-0.4834 right_roll=-0.2292 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -1.1692, 6.9675, 1.7118, -0.0269, -0.0366, -0.0122, -0.7043, -15.2684, 5.4222, 1.0281, 0.2125, -0.1148, 0.0513]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5411, -0.0193, -0.0383, 0.9992, 0.672, 2.257, 2.5931, -1.5951, 0.3698, 0.3191, 0.9954]\nstate[eef_state]: left_x=0.2716 left_y=0.0019 left_z=0.1461 left_yaw=0.0026 left_pitch=-0.1655 left_roll=0.0 left_gripper=0.9992 right_x=0.4059 right_y=0.2459 right_z=0.2304 right_yaw=0.0899 right_pitch=-0.5386 right_roll=-0.2674 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.5111, 6.8991, 1.5946, -0.0855, -0.0269, -0.0122, -0.4444, -14.2701, 5.3675, 1.0574, 0.2515, 0.1245, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5591, -0.0189, -0.0387, 0.9992, 1.071, 1.6779, 1.335, -0.7517, 0.8276, 0.5362, 0.9954]\nstate[eef_state]: left_x=0.2686 left_y=0.0019 left_z=0.1424 left_yaw=0.0025 left_pitch=-0.1853 left_roll=-0.0001 left_gripper=0.9992 right_x=0.296 right_y=0.2782 right_z=0.1802 right_yaw=0.1212 right_pitch=-0.0912 right_roll=-0.3265 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.1692, 7.0359, 1.746, -0.022, -0.0171, -0.0122, 0.2667, -10.0444, 7.0222, 1.3944, 0.6276, 0.1294, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20e8554574fc94b9a2203b0c2e03599f6ce663457b58a26274e6675b14fddd4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce53f47bd1b0709a5b8f05f719e5e308853f00c79f80a87166c23fde0df2fcb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c44738eaf1eab0fb1de80039df84f0b71adf753e0970ff0e3c578674e7ebce5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5wQKjgEIEhgCKkD2HKnFIFwE65RwIgX12Utrh1ykzrtBK7v1hVg9LBxi6UG1bzjtPFgCxKQgHmRGAmMJIt0OZssEm5jhauvpyhi5Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAb7/y9UGEgzj3E56SbpEsXh5RU0aDPa9nydzUina0UPwCSIw7LBTe9xhICHFnympxPs2kjshY34l2ODnp7Xxttvq4GEajNcwV+3zk8TNWiKEL2bPKoUDTQ8PwUvJ1SSsGJqKA0kupgVasBGcCD3VIbVNlJqfF/E3HZWN45kTodAbRSlnsxLLokbcl6HaaRkqhkb7wn7w/cK+Hh4Ukwmgop2f3p81Qald1j58QYWpwkhbOr2p5NUzxP9WuLNfUxxg/ygaRCBnJUre0eKWhZw2qzLoa/7YYPGmuQiNR8Ffwy3sQ3VoF9EpWS4sa6Wy1S7av1Xa9Ve8Q4pVN9pDdPbfR94noWW2BslGvMsnNbxEwBf3rb6KUIB4m6+w1Rdwsz5f22K0iIDm46l2k0mq8QqHGG5szM0Fp8iwdD2LGBwnP0CV8NsDSgBjLd0e46WXVF/NTbtnyWKzeiSwpoBHzcZv+Sb3hRnoMH4cr6m1zG5UWaRKSIrP9Y8y6AZmDjZNzlJKCb2GjQIKzOQKMIhnJltEPJVTqeQk7vVIlkADvwxY+HCu3juozqmYpWSxQgNiC/zvYKHwwvAZ61S2N9UN0Y8yqATkEbG5mE3qHgiNEVcH4uWHotLD6RRG8Tls7TUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01X1qqL8MLyLNwDFoCG2dgWJ",
      "input": {
        "note": "The bear's head appears at the very bottom of the wrist view, meaning it is still nearer the base than the fingertips; retracting 4 cm and descending to 10 cm.",
        "targets": {
          "right_pitch": 0,
          "right_x": 0.26,
          "right_y": 0.28,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01X1qqL8MLyLNwDFoCG2dgWJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8124, 0.6067, -0.5667, -0.0189, -0.0383, 0.9992, 1.19, 1.7088, 1.021, -0.5095, 0.9096, 0.6277, 0.9954]\nstate[eef_state]: left_x=0.2674 left_y=0.0019 left_z=0.1404 left_yaw=0.0024 left_pitch=-0.1956 left_roll=0.0004 left_gripper=0.9992 right_x=0.2557 right_y=0.2733 right_z=0.0982 right_yaw=0.1482 right_pitch=-0.0667 right_roll=-0.3814 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.4291, 6.8718, 1.6581, -0.0366, -0.0415, -0.0122, 0.1573, -6.9402, 6.106, 1.2381, 0.7839, 0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79badc28f2b06006fd9cde53495f32840f3c9bb76924b3e202c62ee6fba4d6b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20df03d8c11d4d35134d15d2798d7998e43b9883d8c96f54b0aadf7515f86b5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dc3721ec705578b9ac45592a133f755b97356851d50172b4352a6d48eee58f34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 3.779 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5411, -0.0193, -0.0383, 0.9992, 0.672, 2.257, 2.5931, -1.5951, 0.3698, 0.3191, 0.9954]\nstate[eef_state]: left_x=0.2716 left_y=0.0019 left_z=0.1461 left_yaw=0.0026 left_pitch=-0.1655 left_roll=0.0 left_gripper=0.9992 right_x=0.4059 right_y=0.2459 right_z=0.2304 right_yaw=0.0899 right_pitch=-0.5386 right_roll=-0.2674 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.5111, 6.8991, 1.5946, -0.0855, -0.0269, -0.0122, -0.4444, -14.2701, 5.3675, 1.0574, 0.2515, 0.1245, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5591, -0.0189, -0.0387, 0.9992, 1.071, 1.6779, 1.335, -0.7517, 0.8276, 0.5362, 0.9954]\nstate[eef_state]: left_x=0.2686 left_y=0.0019 left_z=0.1424 left_yaw=0.0025 left_pitch=-0.1853 left_roll=-0.0001 left_gripper=0.9992 right_x=0.296 right_y=0.2782 right_z=0.1802 right_yaw=0.1212 right_pitch=-0.0912 right_roll=-0.3265 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.1692, 7.0359, 1.746, -0.022, -0.0171, -0.0122, 0.2667, -10.0444, 7.0222, 1.3944, 0.6276, 0.1294, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8124, 0.6067, -0.5667, -0.0189, -0.0383, 0.9992, 1.19, 1.7088, 1.021, -0.5095, 0.9096, 0.6277, 0.9954]\nstate[eef_state]: left_x=0.2674 left_y=0.0019 left_z=0.1404 left_yaw=0.0024 left_pitch=-0.1956 left_roll=0.0004 left_gripper=0.9992 right_x=0.2557 right_y=0.2733 right_z=0.0982 right_yaw=0.1482 right_pitch=-0.0667 right_roll=-0.3814 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.4291, 6.8718, 1.6581, -0.0366, -0.0415, -0.0122, 0.1573, -6.9402, 6.106, 1.2381, 0.7839, 0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79badc28f2b06006fd9cde53495f32840f3c9bb76924b3e202c62ee6fba4d6b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20df03d8c11d4d35134d15d2798d7998e43b9883d8c96f54b0aadf7515f86b5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc3721ec705578b9ac45592a133f755b97356851d50172b4352a6d48eee58f34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5QMKjgEIEhgCKkD49YxGP9xf53XBNh7Rv+dnALgpuSEBZHeInZLA/3CRPURlS41SsRAJphFOM7Qsr3EgGNLtXgPKA6Se4oiopnGKMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcT/y9UGEgyDwzgPyy8iS2akPZ4aDMFvGyxXvOXrOR4ATSIwvTkH6U/ZV2WEJQGuFqdtiZKdUIymvj+q8U6nsUH3SUAlUrdwKDYW+ZQOurRlxfAwKoMCD05ECRLE8Ug8fJHnzm2xyP5CfCIHvOZjtKen52z1I9siAFjesB3QhOJpIc0qGXtn76qfhk5WA/EHFTDTgre4a1bnRFjxXqgb7vMTKSYWQu8Ms6EmEJi4PeDauXm7pSJNhU93H5ShCdp2gBHN00RL8iX7+F261MAy/H9TU9+A6hq/Qpmd37GzdUZBLSDO5rFDXZ695nHEL5d/tCA/bL45wwcoX7u8gPeAhEaUj+RuuIVLdK+0jxvSqH6YexyJgkBZv9yDwpJkijjmDOpJVLL7JYjdXoVp5DA7Fsqp9QwK1lVz/Ee26081JeJvOmZ7HMVGC598T2uiKl8BWvyPfiRleNz+jBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014UABJ7ophFX7mhWuTt7YzU",
      "input": {
        "note": "Bear occupies the lower-left of the wrist view, so shifting ~3 cm toward +y and dropping to 5 cm, straightening pitch/roll, to get the jaws over its body.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.25,
          "right_y": 0.31,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_014UABJ7ophFX7mhWuTt7YzU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8127, 0.6067, -0.5816, -0.0193, -0.0383, 0.9992, 1.2045, 1.7618, 0.8341, -0.1291, 0.8268, 0.728, 0.9954]\nstate[eef_state]: left_x=0.2648 left_y=0.002 left_z=0.1377 left_yaw=0.0028 left_pitch=-0.2109 left_roll=0.001 left_gripper=0.9992 right_x=0.2463 right_y=0.2893 right_z=0.046 right_yaw=0.1532 right_pitch=-0.047 right_roll=-0.1419 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -1.2103, 6.8444, 1.6532, -0.0317, -0.0366, -0.0122, 0.3624, -6.8171, 5.8735, 1.3211, 0.3883, 0.0904, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:421b6dd0236bc8efa2377662fec6d9fea4e093e1d23bde42607ea20521c786e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83b72efbb9b1d67b91fb03559f2c9e9213f1a5d9a5b033e32c1451af73817b0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5fd5741655c9fb37b823486a3b328134d5ddbebe1a7cedf9d21418d987bcd98a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /messages · status 200 · 4.937 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5591, -0.0189, -0.0387, 0.9992, 1.071, 1.6779, 1.335, -0.7517, 0.8276, 0.5362, 0.9954]\nstate[eef_state]: left_x=0.2686 left_y=0.0019 left_z=0.1424 left_yaw=0.0025 left_pitch=-0.1853 left_roll=-0.0001 left_gripper=0.9992 right_x=0.296 right_y=0.2782 right_z=0.1802 right_yaw=0.1212 right_pitch=-0.0912 right_roll=-0.3265 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.1692, 7.0359, 1.746, -0.022, -0.0171, -0.0122, 0.2667, -10.0444, 7.0222, 1.3944, 0.6276, 0.1294, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8124, 0.6067, -0.5667, -0.0189, -0.0383, 0.9992, 1.19, 1.7088, 1.021, -0.5095, 0.9096, 0.6277, 0.9954]\nstate[eef_state]: left_x=0.2674 left_y=0.0019 left_z=0.1404 left_yaw=0.0024 left_pitch=-0.1956 left_roll=0.0004 left_gripper=0.9992 right_x=0.2557 right_y=0.2733 right_z=0.0982 right_yaw=0.1482 right_pitch=-0.0667 right_roll=-0.3814 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.4291, 6.8718, 1.6581, -0.0366, -0.0415, -0.0122, 0.1573, -6.9402, 6.106, 1.2381, 0.7839, 0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8127, 0.6067, -0.5816, -0.0193, -0.0383, 0.9992, 1.2045, 1.7618, 0.8341, -0.1291, 0.8268, 0.728, 0.9954]\nstate[eef_state]: left_x=0.2648 left_y=0.002 left_z=0.1377 left_yaw=0.0028 left_pitch=-0.2109 left_roll=0.001 left_gripper=0.9992 right_x=0.2463 right_y=0.2893 right_z=0.046 right_yaw=0.1532 right_pitch=-0.047 right_roll=-0.1419 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -1.2103, 6.8444, 1.6532, -0.0317, -0.0366, -0.0122, 0.3624, -6.8171, 5.8735, 1.3211, 0.3883, 0.0904, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:421b6dd0236bc8efa2377662fec6d9fea4e093e1d23bde42607ea20521c786e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83b72efbb9b1d67b91fb03559f2c9e9213f1a5d9a5b033e32c1451af73817b0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fd5741655c9fb37b823486a3b328134d5ddbebe1a7cedf9d21418d987bcd98a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIShwMKjgEIEhgCKkCVTy4rn5mpDTB2uoRL3ib7jc5XguYYT6AWx5plVadr0Yvhbf3LEu8BV72XgoT6CKIHxCZQpySbverGrb1T3nQRMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcn/y9UGEgySc4FgbSDmQH0YpocaDN4wK7oxYpfbtK12UiIw/5tWQXSAUmnhA96SC+0JGL5zlVHqRkCnyXD99dthoRHUyGi/+JuWz4vPu2DZ1Yn2KqUBgeb3jnhxPiAyNZL1U0eEmfeoZX0GmavrPjcerh+lWQQDGN/Xegcq6f71dmqYxESbbe+jHJ1rVLjUyxI6o5iDjoQtcb3GloZI9RB+03H7AVUkTeyzURWOwXMEdrrVhbT064pq7BqyMxtQfLagEyxQ6uInZfK2ywLyLmTRRDBMqQy0HONd61S6Uy1yHPyEtxq/OZAnVILdtHLGP2uF5b+PUM32+D/4GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012TjaJV1qR1E4R62wDGc5bR",
      "input": {
        "note": "The bear's fur fills the bottom of the wrist view between the jaws; closing fully to grip it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012TjaJV1qR1E4R62wDGc5bR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.585, -0.0189, -0.0383, 0.9992, 1.2053, 1.7756, 0.8185, -0.0113, 0.7982, 0.7605, 0.0093]\nstate[eef_state]: left_x=0.2642 left_y=0.0019 left_z=0.1367 left_yaw=0.0025 left_pitch=-0.2159 left_roll=0.0008 left_gripper=0.9992 right_x=0.2483 right_y=0.3048 right_z=0.0455 right_yaw=0.1542 right_pitch=-0.0227 right_roll=-0.0266 right_gripper=0.0093\nstate[joint_eff]: [-0.0068, -1.1692, 6.8444, 1.5311, -0.0855, -0.022, -0.0122, 0.3214, -7.5692, 5.641, 1.4676, 0.398, 0.0562, 0.7595]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9c841dffb234c8b8b139c49c86127fd7875fe068e42282fc89deb57e3fd6dbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03f5af592c326dcd38a9d5865f83361c63b37661ac41e372eedaab9f6979ebaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3e5eb0b89c294da3c3fea99a0e76d7f499b8058394b658241172da6aeb518dd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 12.89 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8124, 0.6067, -0.5667, -0.0189, -0.0383, 0.9992, 1.19, 1.7088, 1.021, -0.5095, 0.9096, 0.6277, 0.9954]\nstate[eef_state]: left_x=0.2674 left_y=0.0019 left_z=0.1404 left_yaw=0.0024 left_pitch=-0.1956 left_roll=0.0004 left_gripper=0.9992 right_x=0.2557 right_y=0.2733 right_z=0.0982 right_yaw=0.1482 right_pitch=-0.0667 right_roll=-0.3814 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.4291, 6.8718, 1.6581, -0.0366, -0.0415, -0.0122, 0.1573, -6.9402, 6.106, 1.2381, 0.7839, 0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8127, 0.6067, -0.5816, -0.0193, -0.0383, 0.9992, 1.2045, 1.7618, 0.8341, -0.1291, 0.8268, 0.728, 0.9954]\nstate[eef_state]: left_x=0.2648 left_y=0.002 left_z=0.1377 left_yaw=0.0028 left_pitch=-0.2109 left_roll=0.001 left_gripper=0.9992 right_x=0.2463 right_y=0.2893 right_z=0.046 right_yaw=0.1532 right_pitch=-0.047 right_roll=-0.1419 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -1.2103, 6.8444, 1.6532, -0.0317, -0.0366, -0.0122, 0.3624, -6.8171, 5.8735, 1.3211, 0.3883, 0.0904, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.585, -0.0189, -0.0383, 0.9992, 1.2053, 1.7756, 0.8185, -0.0113, 0.7982, 0.7605, 0.0093]\nstate[eef_state]: left_x=0.2642 left_y=0.0019 left_z=0.1367 left_yaw=0.0025 left_pitch=-0.2159 left_roll=0.0008 left_gripper=0.9992 right_x=0.2483 right_y=0.3048 right_z=0.0455 right_yaw=0.1542 right_pitch=-0.0227 right_roll=-0.0266 right_gripper=0.0093\nstate[joint_eff]: [-0.0068, -1.1692, 6.8444, 1.5311, -0.0855, -0.022, -0.0122, 0.3214, -7.5692, 5.641, 1.4676, 0.398, 0.0562, 0.7595]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9c841dffb234c8b8b139c49c86127fd7875fe068e42282fc89deb57e3fd6dbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03f5af592c326dcd38a9d5865f83361c63b37661ac41e372eedaab9f6979ebaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e5eb0b89c294da3c3fea99a0e76d7f499b8058394b658241172da6aeb518dd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISvAMKjgEIEhgCKkAxLVpepD5vsbcJn8cpRS+UWlsnQZN2djJJ2V+kJxLEOOSrIeWqHMkuNQTVALTO/6eGrfY+4C38f/G69QxCRJKnMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc7/y9UGEgx6lWDcX7ui13IrKz0aDJtpxvbEk8gvgbTENyIwmazt9uq0MzquNXwyzOSKOi6h3sASP+CFFHbW/tRkcDqg+dqm/84SM3AsM8ogYg4eKtoBMZTm5jUC0Kz84qGE8Nyg3exW9Vto6Sm9FCpN6ukVVDyN4mKNOfEUw9+3kNUlqME89s6M12lUsWkoa1gWW7AoxJOZ/otJPOo4fXX6JnqDSH9YRyuEpp5J3Lb1cLiPeERJ4kJqdgl+tobFtMv2fkNy6tYhzb1AMwDYtNIZ1BAeOurSwW0YFfkxlE7EuofCEvYT3fvmf2QKTgikn08aYg+YRdoC47MIsw1ZiMAIdHplV7tcbp6puOVZKtb6mvqejQgigwrF2jZM/TiZ+t0MVIH3EhPMIPORthkhf6IYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NFW9ZVvKgyefir1oLMsyut",
      "input": {
        "note": "Gripper closed to nearly zero (fur compresses), so I'm lifting to see whether the bear came up with the jaws.",
        "targets": {
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01NFW9ZVvKgyefir1oLMsyut",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5854, -0.0189, -0.0387, 0.9992, 1.2049, 1.5982, 1.0527, -0.4572, 0.7849, 0.7593, 0.0112]\nstate[eef_state]: left_x=0.2642 left_y=0.0019 left_z=0.1366 left_yaw=0.0027 left_pitch=-0.2162 left_roll=0.0006 left_gripper=0.9992 right_x=0.2466 right_y=0.3047 right_z=0.1358 right_yaw=0.161 right_pitch=-0.0495 right_roll=-0.0517 right_gripper=0.0112\nstate[joint_eff]: [-0.0205, -1.2103, 6.8444, 1.4969, -0.0513, -0.0659, -0.0073, -0.1299, -9.6205, 8.5949, 1.3504, 0.4274, -0.0269, 0.1832]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0a9cc62688e6627dddd2ccc552721d1c08b92bdc79880b919b444af03a06a1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc8ca3fafe2c6b073d21a7f8f202933b6610bcf4e85413e089279f8bf41b2758",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5629ee5d630ce02d9258630d7ed8c22b112d5cd510190ed89e5eb8d7a88166ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 3.571 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8127, 0.6067, -0.5816, -0.0193, -0.0383, 0.9992, 1.2045, 1.7618, 0.8341, -0.1291, 0.8268, 0.728, 0.9954]\nstate[eef_state]: left_x=0.2648 left_y=0.002 left_z=0.1377 left_yaw=0.0028 left_pitch=-0.2109 left_roll=0.001 left_gripper=0.9992 right_x=0.2463 right_y=0.2893 right_z=0.046 right_yaw=0.1532 right_pitch=-0.047 right_roll=-0.1419 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -1.2103, 6.8444, 1.6532, -0.0317, -0.0366, -0.0122, 0.3624, -6.8171, 5.8735, 1.3211, 0.3883, 0.0904, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.585, -0.0189, -0.0383, 0.9992, 1.2053, 1.7756, 0.8185, -0.0113, 0.7982, 0.7605, 0.0093]\nstate[eef_state]: left_x=0.2642 left_y=0.0019 left_z=0.1367 left_yaw=0.0025 left_pitch=-0.2159 left_roll=0.0008 left_gripper=0.9992 right_x=0.2483 right_y=0.3048 right_z=0.0455 right_yaw=0.1542 right_pitch=-0.0227 right_roll=-0.0266 right_gripper=0.0093\nstate[joint_eff]: [-0.0068, -1.1692, 6.8444, 1.5311, -0.0855, -0.022, -0.0122, 0.3214, -7.5692, 5.641, 1.4676, 0.398, 0.0562, 0.7595]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5854, -0.0189, -0.0387, 0.9992, 1.2049, 1.5982, 1.0527, -0.4572, 0.7849, 0.7593, 0.0112]\nstate[eef_state]: left_x=0.2642 left_y=0.0019 left_z=0.1366 left_yaw=0.0027 left_pitch=-0.2162 left_roll=0.0006 left_gripper=0.9992 right_x=0.2466 right_y=0.3047 right_z=0.1358 right_yaw=0.161 right_pitch=-0.0495 right_roll=-0.0517 right_gripper=0.0112\nstate[joint_eff]: [-0.0205, -1.2103, 6.8444, 1.4969, -0.0513, -0.0659, -0.0073, -0.1299, -9.6205, 8.5949, 1.3504, 0.4274, -0.0269, 0.1832]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0a9cc62688e6627dddd2ccc552721d1c08b92bdc79880b919b444af03a06a1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc8ca3fafe2c6b073d21a7f8f202933b6610bcf4e85413e089279f8bf41b2758",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5629ee5d630ce02d9258630d7ed8c22b112d5cd510190ed89e5eb8d7a88166ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FfU1s44eNrsBMAUt1fZVD9",
      "input": {
        "note": "The bear did not lift — the jaws only pinched top fur. Opening and descending to table level so the jaws straddle its body/limb rather than its fur.",
        "targets": {
          "right_gripper": 1,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FfU1s44eNrsBMAUt1fZVD9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5888, -0.0189, -0.0387, 0.9992, 1.2041, 1.879, 0.8005, 0.0685, 0.7933, 0.7635, 0.9946]\nstate[eef_state]: left_x=0.2636 left_y=0.0019 left_z=0.136 left_yaw=0.0027 left_pitch=-0.2197 left_roll=0.0007 left_gripper=0.9992 right_x=0.2475 right_y=0.3034 right_z=0.0119 right_yaw=0.1529 right_pitch=-0.0469 right_roll=-0.0582 right_gripper=0.9946\nstate[joint_eff]: [-0.0068, -1.1966, 7.2, 1.5507, -0.0806, -0.0415, -0.0122, -0.0342, -6.3248, 3.8496, 0.8913, 0.2222, -0.1587, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abebe75b0a689ae6825954f323bcc51b52483153935486c91162516c8cc8c7d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7929d597e89ac5ef7ddab202785c19277db1eb7b4d36a820a8165716040b44eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f33c8dac090f1282da903b38d5dd9617fd8c9ebf7e488adcecd12c6a4f43a3b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 7.324 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.585, -0.0189, -0.0383, 0.9992, 1.2053, 1.7756, 0.8185, -0.0113, 0.7982, 0.7605, 0.0093]\nstate[eef_state]: left_x=0.2642 left_y=0.0019 left_z=0.1367 left_yaw=0.0025 left_pitch=-0.2159 left_roll=0.0008 left_gripper=0.9992 right_x=0.2483 right_y=0.3048 right_z=0.0455 right_yaw=0.1542 right_pitch=-0.0227 right_roll=-0.0266 right_gripper=0.0093\nstate[joint_eff]: [-0.0068, -1.1692, 6.8444, 1.5311, -0.0855, -0.022, -0.0122, 0.3214, -7.5692, 5.641, 1.4676, 0.398, 0.0562, 0.7595]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5854, -0.0189, -0.0387, 0.9992, 1.2049, 1.5982, 1.0527, -0.4572, 0.7849, 0.7593, 0.0112]\nstate[eef_state]: left_x=0.2642 left_y=0.0019 left_z=0.1366 left_yaw=0.0027 left_pitch=-0.2162 left_roll=0.0006 left_gripper=0.9992 right_x=0.2466 right_y=0.3047 right_z=0.1358 right_yaw=0.161 right_pitch=-0.0495 right_roll=-0.0517 right_gripper=0.0112\nstate[joint_eff]: [-0.0205, -1.2103, 6.8444, 1.4969, -0.0513, -0.0659, -0.0073, -0.1299, -9.6205, 8.5949, 1.3504, 0.4274, -0.0269, 0.1832]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5888, -0.0189, -0.0387, 0.9992, 1.2041, 1.879, 0.8005, 0.0685, 0.7933, 0.7635, 0.9946]\nstate[eef_state]: left_x=0.2636 left_y=0.0019 left_z=0.136 left_yaw=0.0027 left_pitch=-0.2197 left_roll=0.0007 left_gripper=0.9992 right_x=0.2475 right_y=0.3034 right_z=0.0119 right_yaw=0.1529 right_pitch=-0.0469 right_roll=-0.0582 right_gripper=0.9946\nstate[joint_eff]: [-0.0068, -1.1966, 7.2, 1.5507, -0.0806, -0.0415, -0.0122, -0.0342, -6.3248, 3.8496, 0.8913, 0.2222, -0.1587, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abebe75b0a689ae6825954f323bcc51b52483153935486c91162516c8cc8c7d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7929d597e89ac5ef7ddab202785c19277db1eb7b4d36a820a8165716040b44eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f33c8dac090f1282da903b38d5dd9617fd8c9ebf7e488adcecd12c6a4f43a3b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrwIKjgEIEhgCKkDGBeIuD2ONI1GNKPUobyM6Kf9bS6YgjjXHCLdChElKGzdtW4J5BJKYqNU3L7cOtVrvle9p3nNsvEx87NYNXa9YMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeD/y9UGEgyzYGBQsi0GqdJX26AaDNmzQIqcNXO/UWDNZSIwZivP6dzMWrmWHNWUt2/e8hzmqeKdKJIdAUjgw+Jm5OjGkpgOQqoFOKVnjcPlL7djKk4ZbCO18W+HLtCAE/8QFUWW+AVtGx6htZf+r4/FajdDdnRSnP8b22s4R7A5r8/p3J1KCaJD4X0f7m+S94KQT3VjfBh2XcnRI90rFiCFcP0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019tmjzQQScms15FiKXT72La",
      "input": {
        "note": "Jaws are now down at table level amid the bear's body; closing fully to pinch a solid part of it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019tmjzQQScms15FiKXT72La",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5892, -0.0189, -0.0383, 0.9992, 1.2041, 1.8904, 0.7929, 0.0845, 0.7891, 0.7601, 0.1105]\nstate[eef_state]: left_x=0.2635 left_y=0.0019 left_z=0.136 left_yaw=0.0025 left_pitch=-0.2201 left_roll=0.0009 left_gripper=0.9992 right_x=0.2467 right_y=0.3027 right_z=0.007 right_yaw=0.157 right_pitch=-0.0516 right_roll=-0.0618 right_gripper=0.1105\nstate[joint_eff]: [-0.0752, -1.1966, 6.9538, 1.4921, -0.0464, -0.0269, -0.0073, -0.3761, -9.2376, 5.4085, 0.9597, 0.3736, 0.0171, 0.6764]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea45553110484d3fb010a406edb245f9964ebc976c1d318664944a84af4fda1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:747c618d8f001f3acb0ff23c64fa1edd896199c9fac7f90ae2c04f082f536d5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:984d81fd86807912e20fb6173a99d2da4652f1950533121b7eff8fc6321beb67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /messages · status 200 · 6.559 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5854, -0.0189, -0.0387, 0.9992, 1.2049, 1.5982, 1.0527, -0.4572, 0.7849, 0.7593, 0.0112]\nstate[eef_state]: left_x=0.2642 left_y=0.0019 left_z=0.1366 left_yaw=0.0027 left_pitch=-0.2162 left_roll=0.0006 left_gripper=0.9992 right_x=0.2466 right_y=0.3047 right_z=0.1358 right_yaw=0.161 right_pitch=-0.0495 right_roll=-0.0517 right_gripper=0.0112\nstate[joint_eff]: [-0.0205, -1.2103, 6.8444, 1.4969, -0.0513, -0.0659, -0.0073, -0.1299, -9.6205, 8.5949, 1.3504, 0.4274, -0.0269, 0.1832]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5888, -0.0189, -0.0387, 0.9992, 1.2041, 1.879, 0.8005, 0.0685, 0.7933, 0.7635, 0.9946]\nstate[eef_state]: left_x=0.2636 left_y=0.0019 left_z=0.136 left_yaw=0.0027 left_pitch=-0.2197 left_roll=0.0007 left_gripper=0.9992 right_x=0.2475 right_y=0.3034 right_z=0.0119 right_yaw=0.1529 right_pitch=-0.0469 right_roll=-0.0582 right_gripper=0.9946\nstate[joint_eff]: [-0.0068, -1.1966, 7.2, 1.5507, -0.0806, -0.0415, -0.0122, -0.0342, -6.3248, 3.8496, 0.8913, 0.2222, -0.1587, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5892, -0.0189, -0.0383, 0.9992, 1.2041, 1.8904, 0.7929, 0.0845, 0.7891, 0.7601, 0.1105]\nstate[eef_state]: left_x=0.2635 left_y=0.0019 left_z=0.136 left_yaw=0.0025 left_pitch=-0.2201 left_roll=0.0009 left_gripper=0.9992 right_x=0.2467 right_y=0.3027 right_z=0.007 right_yaw=0.157 right_pitch=-0.0516 right_roll=-0.0618 right_gripper=0.1105\nstate[joint_eff]: [-0.0752, -1.1966, 6.9538, 1.4921, -0.0464, -0.0269, -0.0073, -0.3761, -9.2376, 5.4085, 0.9597, 0.3736, 0.0171, 0.6764]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea45553110484d3fb010a406edb245f9964ebc976c1d318664944a84af4fda1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:747c618d8f001f3acb0ff23c64fa1edd896199c9fac7f90ae2c04f082f536d5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:984d81fd86807912e20fb6173a99d2da4652f1950533121b7eff8fc6321beb67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4gIKjgEIEhgCKkBerCAG0sVuLQ6prNslEHFSHTCEWXWyP8lEJh42g5Nbe1pAcFGK5/RiHrOXkxF3wxMHNzsilGYX35OvmHJ4bxfsMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAen/y9UGEgxQFQGjopZpebIXUvAaDP1BYR0TVaBjhESufiIw5yzEptNhXTmHR66CZcCIocfHzeFkeLHcQjPY1hdHWHG5BCkZCsktm+yeJVbVy54ZKoABXnxKNpnhSPtaOnECEb144k2rOidHd5diBTCOUFipHue6mtEBXXzQfo6mRS1fh96nBrma4LqhxG82VNQ91MGywdR5l/ZQRljB8g3APb5G1HZHGu/5pFCrXPxIgEde2ypYt9K9wdRLcZ+c9EmMKLn6A7uYRnfEV8B9cjaeucFk/YUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JPkWsBKAecy1DcyqTEEkNB",
      "input": {
        "note": "Gripper settled at 0.11, so it has a pinch of the bear; lifting to 20 cm to see if the bear comes up.",
        "targets": {
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01JPkWsBKAecy1DcyqTEEkNB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5926, -0.0189, -0.0383, 0.9992, 1.2041, 1.5883, 1.227, -0.691, 0.7692, 0.7597, 0.1116]\nstate[eef_state]: left_x=0.2629 left_y=0.002 left_z=0.1354 left_yaw=0.0025 left_pitch=-0.2235 left_roll=0.001 left_gripper=0.9992 right_x=0.2449 right_y=0.3051 right_z=0.1745 right_yaw=0.1656 right_pitch=-0.0861 right_roll=-0.0876 right_gripper=0.1116\nstate[joint_eff]: [-0.0615, -1.1829, 7.0085, 1.5409, -0.0659, -0.0562, -0.0122, -0.1573, -9.4017, 8.5265, 1.1355, 0.5592, -0.0122, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2438151fcaef6ae85b506e2d955ef674506cf451887683deb4f49edf4d0615e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2eafb031c269aecab7c8bacec3536530ecc1e047e9dbbcbc35c494aa088ced2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7be9e8499d82364b714f098f7ab6ed14f346029f7666ff63256246f14be2c2f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
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call 25 attempt 0 · /messages · status 200 · 6.434 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5888, -0.0189, -0.0387, 0.9992, 1.2041, 1.879, 0.8005, 0.0685, 0.7933, 0.7635, 0.9946]\nstate[eef_state]: left_x=0.2636 left_y=0.0019 left_z=0.136 left_yaw=0.0027 left_pitch=-0.2197 left_roll=0.0007 left_gripper=0.9992 right_x=0.2475 right_y=0.3034 right_z=0.0119 right_yaw=0.1529 right_pitch=-0.0469 right_roll=-0.0582 right_gripper=0.9946\nstate[joint_eff]: [-0.0068, -1.1966, 7.2, 1.5507, -0.0806, -0.0415, -0.0122, -0.0342, -6.3248, 3.8496, 0.8913, 0.2222, -0.1587, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5892, -0.0189, -0.0383, 0.9992, 1.2041, 1.8904, 0.7929, 0.0845, 0.7891, 0.7601, 0.1105]\nstate[eef_state]: left_x=0.2635 left_y=0.0019 left_z=0.136 left_yaw=0.0025 left_pitch=-0.2201 left_roll=0.0009 left_gripper=0.9992 right_x=0.2467 right_y=0.3027 right_z=0.007 right_yaw=0.157 right_pitch=-0.0516 right_roll=-0.0618 right_gripper=0.1105\nstate[joint_eff]: [-0.0752, -1.1966, 6.9538, 1.4921, -0.0464, -0.0269, -0.0073, -0.3761, -9.2376, 5.4085, 0.9597, 0.3736, 0.0171, 0.6764]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5926, -0.0189, -0.0383, 0.9992, 1.2041, 1.5883, 1.227, -0.691, 0.7692, 0.7597, 0.1116]\nstate[eef_state]: left_x=0.2629 left_y=0.002 left_z=0.1354 left_yaw=0.0025 left_pitch=-0.2235 left_roll=0.001 left_gripper=0.9992 right_x=0.2449 right_y=0.3051 right_z=0.1745 right_yaw=0.1656 right_pitch=-0.0861 right_roll=-0.0876 right_gripper=0.1116\nstate[joint_eff]: [-0.0615, -1.1829, 7.0085, 1.5409, -0.0659, -0.0562, -0.0122, -0.1573, -9.4017, 8.5265, 1.1355, 0.5592, -0.0122, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2438151fcaef6ae85b506e2d955ef674506cf451887683deb4f49edf4d0615e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2eafb031c269aecab7c8bacec3536530ecc1e047e9dbbcbc35c494aa088ced2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7be9e8499d82364b714f098f7ab6ed14f346029f7666ff63256246f14be2c2f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1gYKjgEIEhgCKkDCEsHyRX8t/JF0Z5zrhbdFm2HLlA/ODxtmzoMdl0L24HEr0t2JK/P/u8BdqejzVy8FWLBL5U07ZrQ1EPaACMvuMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfD/y9UGEgyikJlMdkHQFQ8m5PMaDG1HA6Iib/upK44lgCIwVnihKiWx3xRNPMnyZ4L0MM06ZB+ZwXO8hcu7wTaVocWd+wuRiprztbE/KMVb7wzsKvQEyCgXTrDJjL2dWKg9nheBVV7pybRVjN2aq4GGTUKzyaffdR7MJDJEK8Nbx7LPKr9JOAIfHBf+PcSgI1ZjneXrUcz02teRLfvIuLPvI02ARlHWo3OypjgqVoOBCcNy8d0jm+XKejC65OBhiiXORcZAWmoqh98TtK7FT8E8t4GaXva7SKuuG4onyF4/212dIIN7OglARO6gWdUxnv7BTss+BfnBFB6DV+/KS09bzoLzgFq8HpaaOocPrt9AEW1TMm8B5/9smnlDvrMAcJn4idF3Bs+ti4jPrUU2uQgTWiOiQUGEfGnllEHawYflaxcfb5cA2bJghYnaMOWGU/hxccIlldcuFyeiiLd01CvdRE6WUvBwHz8Bm1QWHjti2iQGx1ENXwFT41qtjFQ0MdPBSget0dKSNa9DzFI+y7GluaXAzAq91/0VCd+39m8fgl+qiKbvIkgJywOyG0qZeeAhXuQhw8ClqyLxNvjR/EQJStZVJIWANiT2kk3TIzAeUgyIVOHYTH0WQ+J+C/sdnp9wvUSF7za5lSIKZGtJooPfJIiJshFaHqweoHcts9VkQVduVZCZfSRn8OqLwlR6ZDsq8Gwi2+8bi2xWCF9413ideFpG+jeAhPNsWO6nR0NOQblcp4WYL7XUyaVaR0q1ie423dBJFYHlI6bUQbHKIIdURU6mQu35rss86ZcujFprSsGX2JZUqcUptpIY14Fbv0g5i0PQPT5A2ZHyx4OJx6PUTzTi+gUtol0svSeJrhgRJN0gtWEnCzKih3CJKVTaD1BFvBqyFzFhXD9ZZDbXi45P5ra71T7iurGTNFRZAAJfq7EOMY6dp5W3txgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019h1QH2i4EchiwXp2dWkFDx",
      "input": {
        "note": "Possibly holding the bear by a pinch of fur; moving up and forward toward the open safe to see whether the bear travels with the gripper.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.3,
          "right_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_019h1QH2i4EchiwXp2dWkFDx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.6052, -0.0189, -0.0383, 0.9992, 0.9096, 1.7466, 1.6707, -0.8326, 0.5964, 0.4679, 0.1131]\nstate[eef_state]: left_x=0.2607 left_y=0.002 left_z=0.1328 left_yaw=0.0026 left_pitch=-0.238 left_roll=0.0013 left_gripper=0.9992 right_x=0.3506 right_y=0.2949 right_z=0.2428 right_yaw=0.1523 right_pitch=-0.1246 right_roll=-0.1099 right_gripper=0.1131\nstate[joint_eff]: [-0.1709, -1.3607, 6.8308, 1.6825, -0.0611, -0.0415, -0.0122, -0.1983, -8.6906, 8.5812, 1.5067, 0.3248, -0.0171, 0.1343]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97024aab0d6aafca515d8cb4d43df865d1d45715022d9194c420fa52e9fd79d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b82a4a343906780d5f46bb21538d06931556d0c480627f5569cb8cef9c91bf7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6137143e322375982bf61955ddcbbaab9d2ce8d9f6ec905d3b35b0d6d53d2824",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 4.09 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5892, -0.0189, -0.0383, 0.9992, 1.2041, 1.8904, 0.7929, 0.0845, 0.7891, 0.7601, 0.1105]\nstate[eef_state]: left_x=0.2635 left_y=0.0019 left_z=0.136 left_yaw=0.0025 left_pitch=-0.2201 left_roll=0.0009 left_gripper=0.9992 right_x=0.2467 right_y=0.3027 right_z=0.007 right_yaw=0.157 right_pitch=-0.0516 right_roll=-0.0618 right_gripper=0.1105\nstate[joint_eff]: [-0.0752, -1.1966, 6.9538, 1.4921, -0.0464, -0.0269, -0.0073, -0.3761, -9.2376, 5.4085, 0.9597, 0.3736, 0.0171, 0.6764]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5926, -0.0189, -0.0383, 0.9992, 1.2041, 1.5883, 1.227, -0.691, 0.7692, 0.7597, 0.1116]\nstate[eef_state]: left_x=0.2629 left_y=0.002 left_z=0.1354 left_yaw=0.0025 left_pitch=-0.2235 left_roll=0.001 left_gripper=0.9992 right_x=0.2449 right_y=0.3051 right_z=0.1745 right_yaw=0.1656 right_pitch=-0.0861 right_roll=-0.0876 right_gripper=0.1116\nstate[joint_eff]: [-0.0615, -1.1829, 7.0085, 1.5409, -0.0659, -0.0562, -0.0122, -0.1573, -9.4017, 8.5265, 1.1355, 0.5592, -0.0122, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.6052, -0.0189, -0.0383, 0.9992, 0.9096, 1.7466, 1.6707, -0.8326, 0.5964, 0.4679, 0.1131]\nstate[eef_state]: left_x=0.2607 left_y=0.002 left_z=0.1328 left_yaw=0.0026 left_pitch=-0.238 left_roll=0.0013 left_gripper=0.9992 right_x=0.3506 right_y=0.2949 right_z=0.2428 right_yaw=0.1523 right_pitch=-0.1246 right_roll=-0.1099 right_gripper=0.1131\nstate[joint_eff]: [-0.1709, -1.3607, 6.8308, 1.6825, -0.0611, -0.0415, -0.0122, -0.1983, -8.6906, 8.5812, 1.5067, 0.3248, -0.0171, 0.1343]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97024aab0d6aafca515d8cb4d43df865d1d45715022d9194c420fa52e9fd79d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b82a4a343906780d5f46bb21538d06931556d0c480627f5569cb8cef9c91bf7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6137143e322375982bf61955ddcbbaab9d2ce8d9f6ec905d3b35b0d6d53d2824",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2QUKjgEIEhgCKkBrTZiFcXu0uclyIMffckP0w5baYqMySykiQMNS8DGzd4nvU4CmFqaRd1KqZ/Lp4ngY67XPiVyNPZLYpPEVHLibMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfj/y9UGEgxH6E1AmKklhfLxiUQaDBacIqK4IQwxKhjwCCIwNzQJr+eD8ozO5zBYMzQolHYx9HnS47G8lVZD5YGFSEQwElCZnCyZTZVkiwPFbJIoKvcDqkW+qXWwV3asUoEajGp3NioAC95OL9Cpm5PgutjrN5tLabD9TwvMBlIh0XPPs+ghWcZd+htaLV535GaNG5PrZ4oszTt/ZpI3nU0ty5qNYp6Mb3EGF30aJzxPDiERVZkSBq2SysjfHMbDPxQIwV1YD37G6qG3hT7yEbE2wCOz2jK4x3OkXsi5M1o4/0rzjw/26jhKZzahfcN3ywLLHLbdzCFkUS2bTDG5alm2dlyTB2f03kzZxAZfaaGat5qIMJTflN8T9TP86+gsAkUuuYW9hngNwdY3KnwgCF16HOvF6foR7A1+O+FtbWUcDAstpye9j7TP7RdjRHZP9QZA8+lvdGzMOxdhBDDp2AZf4FlaOhV5iNBL7FPuMXzNIljConxq3USqYG6EhOw3Ym8LU3btxkt/eb5hO25WtOP4uu1w6vz2LU2K0GBFcs6DPB0QVwh1Zx1h8ahFx8uZjKdayeMhVd92Ghtr0IA6B72D62Gw6nhtFsWYVtLvZ/NIyMmUmbu1WK8rLn3h2HX+rw2YAxXIsEqaMdkvNFqpLKiCUHWm+haNHjpqX8/OBK4h6qsevStk0pn4kNZn0cgPlLXjEkw6vmznRMcJGDw6umeQ5rwuTFDzxU8PBi59ryVsuHnqaz2YDmOus7Z2Vol87fbP0ul4RVgY67cxQ0gYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AbPwZhaYsdpVe2ePHLyqzu",
      "input": {
        "note": "The bear is indeed being carried and now hangs just in front of the safe; moving further out to centre it over the red interior.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.27,
          "right_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01AbPwZhaYsdpVe2ePHLyqzu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.6113, -0.0189, -0.0387, 0.9992, 0.7082, 1.9079, 1.8999, -0.8864, 0.4648, 0.3004, 0.1147]\nstate[eef_state]: left_x=0.2596 left_y=0.002 left_z=0.1311 left_yaw=0.0028 left_pitch=-0.2468 left_roll=0.0013 left_gripper=0.9992 right_x=0.4256 right_y=0.2649 right_z=0.2415 right_yaw=0.1405 right_pitch=-0.1885 right_roll=-0.1433 right_gripper=0.1147\nstate[joint_eff]: [-0.1162, -1.388, 7.0222, 1.5751, -0.0611, -0.0366, -0.0122, -0.5128, -9.7436, 8.7043, 1.746, 0.2125, -0.0317, 0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:979ec66b7c9a015c0c76973a61354f9657db114b03265422f69f71a2a3379d6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a22e7e2ae50c318bcd68a9db94926cfd0e6f5eaf9d629e54c78212695707e341",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e6acfc960f2fa8065dcdab774d85d70f4ca87b4eeb3765c010322da8e1d862f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 27 attempt 0 · /messages · status 200 · 9.295 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5926, -0.0189, -0.0383, 0.9992, 1.2041, 1.5883, 1.227, -0.691, 0.7692, 0.7597, 0.1116]\nstate[eef_state]: left_x=0.2629 left_y=0.002 left_z=0.1354 left_yaw=0.0025 left_pitch=-0.2235 left_roll=0.001 left_gripper=0.9992 right_x=0.2449 right_y=0.3051 right_z=0.1745 right_yaw=0.1656 right_pitch=-0.0861 right_roll=-0.0876 right_gripper=0.1116\nstate[joint_eff]: [-0.0615, -1.1829, 7.0085, 1.5409, -0.0659, -0.0562, -0.0122, -0.1573, -9.4017, 8.5265, 1.1355, 0.5592, -0.0122, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.6052, -0.0189, -0.0383, 0.9992, 0.9096, 1.7466, 1.6707, -0.8326, 0.5964, 0.4679, 0.1131]\nstate[eef_state]: left_x=0.2607 left_y=0.002 left_z=0.1328 left_yaw=0.0026 left_pitch=-0.238 left_roll=0.0013 left_gripper=0.9992 right_x=0.3506 right_y=0.2949 right_z=0.2428 right_yaw=0.1523 right_pitch=-0.1246 right_roll=-0.1099 right_gripper=0.1131\nstate[joint_eff]: [-0.1709, -1.3607, 6.8308, 1.6825, -0.0611, -0.0415, -0.0122, -0.1983, -8.6906, 8.5812, 1.5067, 0.3248, -0.0171, 0.1343]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.6113, -0.0189, -0.0387, 0.9992, 0.7082, 1.9079, 1.8999, -0.8864, 0.4648, 0.3004, 0.1147]\nstate[eef_state]: left_x=0.2596 left_y=0.002 left_z=0.1311 left_yaw=0.0028 left_pitch=-0.2468 left_roll=0.0013 left_gripper=0.9992 right_x=0.4256 right_y=0.2649 right_z=0.2415 right_yaw=0.1405 right_pitch=-0.1885 right_roll=-0.1433 right_gripper=0.1147\nstate[joint_eff]: [-0.1162, -1.388, 7.0222, 1.5751, -0.0611, -0.0366, -0.0122, -0.5128, -9.7436, 8.7043, 1.746, 0.2125, -0.0317, 0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:979ec66b7c9a015c0c76973a61354f9657db114b03265422f69f71a2a3379d6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a22e7e2ae50c318bcd68a9db94926cfd0e6f5eaf9d629e54c78212695707e341",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6acfc960f2fa8065dcdab774d85d70f4ca87b4eeb3765c010322da8e1d862f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShgMKjgEIEhgCKkB4TvjcBp1UygEmhickIyP7955QBpXkQwXp5tVk+CyQtAsPVKhJRduZdJoG2IGoPNJj2iILMVzww1ouuJP6lf7KMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf3/y9UGEgy6b9DlP9+3LC6lVcAaDLbq8RW4GBx/fTyweyIwoX3cw80DVY3ioYOZwc4HrTQ0l/c11v0rGuwTY6tlbK4x3ajlYyNiv/LQCJBnQaP+KqQB7RxzHXxlHc6g5RT6YUowErn3HB/uG/ffww7QkubqkiGzSy8YvXPE4FhBR8uWdM1tkNQOTbenphT7wLwZslqz1jwYAbErZi/3k8NBzLygvtJYMMu/ti4H3g44kvR/PcEFtRvCZW6DouAP4y+2iTNSJ9zVyLQtEmRExp9pL0CMIvDdSgtSyb3tejaWOIQfpHaHDEeeVtIVIPnHKraZFrYtstEcmVQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017TZSGnqgZgB3d8uFCD7qpM",
      "input": {
        "note": "The bear now hangs over the red interior; lowering slightly and opening the jaws to drop it into the safe.",
        "targets": {
          "right_gripper": 1,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_017TZSGnqgZgB3d8uFCD7qpM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.6151, -0.0189, -0.0387, 0.9992, 0.7074, 1.9076, 1.6627, -0.7254, 0.4549, 0.2916, 0.9948]\nstate[eef_state]: left_x=0.2589 left_y=0.002 left_z=0.1304 left_yaw=0.0029 left_pitch=-0.2506 left_roll=0.0013 left_gripper=0.9992 right_x=0.4196 right_y=0.2614 right_z=0.1714 right_yaw=0.1429 right_pitch=-0.2576 right_roll=-0.1843 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -1.1829, 6.8171, 1.4921, -0.0415, -0.0708, -0.0122, 0.0205, -12.5197, 7.0359, 1.5214, 0.2173, 0.0513, -0.1685]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9334a4174658a6b5f77b943ce9e2fb1cbd8b2af0fe157c1b39303d1731326ca3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfcb17f76dc2d088877acc440668ab54460e7bf0adb8629f39d330c060f44178",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:61a7df3ba8756d391a6da9b55c0f4cb4aac84933ec075afffe501226732a8fa3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /messages · status 200 · 7.05 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.6052, -0.0189, -0.0383, 0.9992, 0.9096, 1.7466, 1.6707, -0.8326, 0.5964, 0.4679, 0.1131]\nstate[eef_state]: left_x=0.2607 left_y=0.002 left_z=0.1328 left_yaw=0.0026 left_pitch=-0.238 left_roll=0.0013 left_gripper=0.9992 right_x=0.3506 right_y=0.2949 right_z=0.2428 right_yaw=0.1523 right_pitch=-0.1246 right_roll=-0.1099 right_gripper=0.1131\nstate[joint_eff]: [-0.1709, -1.3607, 6.8308, 1.6825, -0.0611, -0.0415, -0.0122, -0.1983, -8.6906, 8.5812, 1.5067, 0.3248, -0.0171, 0.1343]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.6113, -0.0189, -0.0387, 0.9992, 0.7082, 1.9079, 1.8999, -0.8864, 0.4648, 0.3004, 0.1147]\nstate[eef_state]: left_x=0.2596 left_y=0.002 left_z=0.1311 left_yaw=0.0028 left_pitch=-0.2468 left_roll=0.0013 left_gripper=0.9992 right_x=0.4256 right_y=0.2649 right_z=0.2415 right_yaw=0.1405 right_pitch=-0.1885 right_roll=-0.1433 right_gripper=0.1147\nstate[joint_eff]: [-0.1162, -1.388, 7.0222, 1.5751, -0.0611, -0.0366, -0.0122, -0.5128, -9.7436, 8.7043, 1.746, 0.2125, -0.0317, 0.1587]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.6151, -0.0189, -0.0387, 0.9992, 0.7074, 1.9076, 1.6627, -0.7254, 0.4549, 0.2916, 0.9948]\nstate[eef_state]: left_x=0.2589 left_y=0.002 left_z=0.1304 left_yaw=0.0029 left_pitch=-0.2506 left_roll=0.0013 left_gripper=0.9992 right_x=0.4196 right_y=0.2614 right_z=0.1714 right_yaw=0.1429 right_pitch=-0.2576 right_roll=-0.1843 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -1.1829, 6.8171, 1.4921, -0.0415, -0.0708, -0.0122, 0.0205, -12.5197, 7.0359, 1.5214, 0.2173, 0.0513, -0.1685]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9334a4174658a6b5f77b943ce9e2fb1cbd8b2af0fe157c1b39303d1731326ca3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfcb17f76dc2d088877acc440668ab54460e7bf0adb8629f39d330c060f44178",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61a7df3ba8756d391a6da9b55c0f4cb4aac84933ec075afffe501226732a8fa3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISzgkKjgEIEhgCKkDJTkjhCZTgzCqeuBcQ0O72h7o8xHk1vzxsftUJ4/zkZdbJy9xoxsI94tJYYzSG2q2pB8zuErAcKKnOH4/UT9NvMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYaAzNUGEgyPdayElUaGtxfB7sMaDLKiiiMezZEAkT84GCIwcwCfZsjgsZTjUVqkt0eOZuXS0SJ0+3TGN+whGGwIle73dL81zRAF8D9VekqVbqTPKuwHpvIVhjD4Qr4h6MkrZXvcImmRTA37sMo0vxdP8TT4opyggUSmWs8acIC4snB1pDnwMGi3D5zGlaj+Czosv+zEQLU8Uzohl2xOEh6E08/b+W9vC/zzeGAJTFYkW4TarPLFfHiEuZfmaGgf6VREWSAaOiaa2YRKLOfbEdWwpRbcmYb1rBvn8vqWyDUVZ9z23oZMY/2KWncZ8k0xHVH5nVGKsgAwe7Pm68LDMX3ChpGtZyVzRf2UQrSj9KMHu+Ma9tnRxEC46C96UFUJcdyvqUc6M51jeAjHS6VVOVtAMHDL/omhHuYoa+kV+ZlJxl1q1DF4/K+bXVtgj4Tp4RROg/y+CitWm/ubS8noKkLhDDiFdITE6VKg/4SnxBVE4NogxjUIpdgOpNykW4lYb3KDovOP9DVfHWGVD/XMg0+hPXp+yNhsmJJmFZSrcGzeGQQJzTdZurW23tSCx1d1/NFMz7S3a0PHHOwyNG6sSNTLdhCqIAGwdsUjN5+lXNxuWP4DNtZoAax9CBxAF4TCSGvA8Il6uDNcunWEih7s8VNnfvWMpAO+o1mYphV5khKmZE1m0aLWC8qs4/CXg+dQ9wA5Mq0FpGf5/Pmq6m0lwoKenee8gqQEoq93w6lXPz3oVjhLU/rEv7qSMBnBTQk3ve608uWwkwW29icYM0LIBvlGMneM9WJw1A5bJogLP17Jr/Ww+Jmn1mAUTnmV9YEamDWtuccXT7A1dK3Vzk9JthqAUl+LEAm7e3sOQB36CNyhP2zgDEGLsZ705y4qB2I+TgwJkhoNLJdmkkODpyE4VSwruys8uLgTmxhrKlQKl409oBnRq7jhhjM9lBmKF/bD4whbogtMn1KanrujpTcRkJLIhkpMAHrFR3noryI+AQCU0S97HudP4U1bKqPQdqyIfPjOiDcbW1uetrUdzYvwiOcGMF5Mpv1xzuL8H6H3D4azivxX/HbNHZUbzGK6sS1Q3o1qlcSRplCA9h8nFWO33Qu3kC+LMNRr3cSrlddgoblkxFScjf7xWaXNgDKaTAI3BgPwWdC89htC+IkEPaC2nm3QUfEQsOfRwiOCx2B5IMrteducWxE7NjtLLHbkdYs58szdOfGv51lU5vXCVkEHsk1s/PORqUK2RZTdnYvDNgKrMZSwzVHyBP+ufhrej/RO1QS/VFrFjx50FaPlIb9/oo0mW2tefVutG5pee7l/BuP6Tjv2d83a8iSQ0F0RAbQ2r4hP7+XwjcavB/1JHCVf2+oqFIeY9MQVDK4O5tNSAeQgKj9jNgpm9iKhCCjkMGEF/0a7qtUN5ACc2QXXL2Bz90h924spDScqc0HHDRqO7yy3lwsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AnmZgwV5LKT3CwBqkgMxPa",
      "input": {
        "note": "Bear is in the safe. Parking the right arm back near home and out of the way before the left arm goes for the cream poodle plush.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.3,
          "right_y": 0.05,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01AnmZgwV5LKT3CwBqkgMxPa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6331, -0.0189, -0.0383, 0.9992, 0.2684, 1.1412, 1.2175, -0.9535, 0.2047, -0.0467, 0.999]\nstate[eef_state]: left_x=0.2557 left_y=0.0021 left_z=0.127 left_yaw=0.0028 left_pitch=-0.2704 left_roll=0.0021 left_gripper=0.9992 right_x=0.3028 right_y=0.0498 right_z=0.2438 right_yaw=0.1085 right_pitch=-0.2759 right_roll=-0.1868 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -1.347, 6.8171, 1.6093, -0.0611, -0.0317, -0.0122, -0.1026, -3.8359, 6.3932, 1.746, 0.0757, -0.022, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67dce90f4f33e820a8a05d2ccaf09182632aed5b5534617dd4df3a1514fb9af9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f55582011a193648c4ac820f694c2fcbd73f165a826bfeadeb656d47c2f396d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1ce3d9c3ef85c34ff7860137b46586dabbf726c1f52445c49e23d341d3ea31b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
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call 29 attempt 0 · /messages · status 200 · 6.551 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.6113, -0.0189, -0.0387, 0.9992, 0.7082, 1.9079, 1.8999, -0.8864, 0.4648, 0.3004, 0.1147]\nstate[eef_state]: left_x=0.2596 left_y=0.002 left_z=0.1311 left_yaw=0.0028 left_pitch=-0.2468 left_roll=0.0013 left_gripper=0.9992 right_x=0.4256 right_y=0.2649 right_z=0.2415 right_yaw=0.1405 right_pitch=-0.1885 right_roll=-0.1433 right_gripper=0.1147\nstate[joint_eff]: [-0.1162, -1.388, 7.0222, 1.5751, -0.0611, -0.0366, -0.0122, -0.5128, -9.7436, 8.7043, 1.746, 0.2125, -0.0317, 0.1587]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.6151, -0.0189, -0.0387, 0.9992, 0.7074, 1.9076, 1.6627, -0.7254, 0.4549, 0.2916, 0.9948]\nstate[eef_state]: left_x=0.2589 left_y=0.002 left_z=0.1304 left_yaw=0.0029 left_pitch=-0.2506 left_roll=0.0013 left_gripper=0.9992 right_x=0.4196 right_y=0.2614 right_z=0.1714 right_yaw=0.1429 right_pitch=-0.2576 right_roll=-0.1843 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -1.1829, 6.8171, 1.4921, -0.0415, -0.0708, -0.0122, 0.0205, -12.5197, 7.0359, 1.5214, 0.2173, 0.0513, -0.1685]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6331, -0.0189, -0.0383, 0.9992, 0.2684, 1.1412, 1.2175, -0.9535, 0.2047, -0.0467, 0.999]\nstate[eef_state]: left_x=0.2557 left_y=0.0021 left_z=0.127 left_yaw=0.0028 left_pitch=-0.2704 left_roll=0.0021 left_gripper=0.9992 right_x=0.3028 right_y=0.0498 right_z=0.2438 right_yaw=0.1085 right_pitch=-0.2759 right_roll=-0.1868 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -1.347, 6.8171, 1.6093, -0.0611, -0.0317, -0.0122, -0.1026, -3.8359, 6.3932, 1.746, 0.0757, -0.022, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67dce90f4f33e820a8a05d2ccaf09182632aed5b5534617dd4df3a1514fb9af9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f55582011a193648c4ac820f694c2fcbd73f165a826bfeadeb656d47c2f396d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ce3d9c3ef85c34ff7860137b46586dabbf726c1f52445c49e23d341d3ea31b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2wUKjgEIEhgCKkCDG6D7LXbTpg9VP2qVKVzW3WIn0EOoOvwI85XUlGe6w1vwTsdGb85uqrGCbMEJ0OOgZqoI/eleuOYpQ5nuO/TlMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY+AzNUGEgyelRf+Nua9fe0lX+oaDFLEnlnqsJxGGp/1+SIw5CtM3yc9T3xEW6n0Slvqz5fZO7vXTnyAuat6Tyez+/bo9/tIEVUgSbeQH8Ui2mL3KvkD0jMxm/hyxm3sqEHvTR2/gjUCSvROwhgD0qDarcaDz93LqP1ZL30GYo7jtVZRpbTAxz96qiTnLKV+7gMlgeciTOaZvK+BmyNVLdnhGUrW0Z5o6isyssPYOMMzWJp7wDvhnppUIZueb6cDZ+016yLkdryrY4JYzC1b659yytNKMlUZ1vaivSXZSizEROkJkYe9hpZ6ogkb9H+X8JFvFWhXDrbs8dn0/XfMA6uYMzm2Nw1MGsCubDMIOj1c8w1gFeh7UUvEUpjQQ2+UMN4rrL83QiEz54FEA2hc6oSUguQ+WtuMv6CrTjcrLHVTv9PAYxUMbYy4b0WEWRv4yGnEZ+ha9sStIKguK7Yf4VHeLSfsd45j1w/vAa9bzdElEa6vSE6L5HuHtArQzgINryzQGBOMXaDG4k3V0QjA9CvPoyHLDd2ybH/hkYNsFvCcpx9wDbZ8ZDYCSfH7TlySWzHgJIb0YctlqCz06gCiWJ/ZLiUD+ch1Ki9/tgRO9YB7+Zgi/+vNxgmqG7GxBtoDF5YRZ1VrPMueS6ITb7d1jbeQnDpegCDhUSNHkKHcVjqC4pNf8yl8CVZZqcOMZfGqaN6v3ELNwUoxlGSYxLU3K+y1efH/Uvt64mK6xcfHZSf2rdEOWASGy6JNZDERPq8V5tz5j3QXfn8kID6Fndt6lhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0193jooQK7HUFcubvJBqk28D",
      "input": {
        "note": "Only the cream poodle plush is left on the table, to the left of the safe. Flying the left arm over my estimate of its position to line it up in the left wrist view.",
        "targets": {
          "left_pitch": 0,
          "left_x": 0.36,
          "left_y": -0.17,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_0193jooQK7HUFcubvJBqk28D",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6834, 1.3758, 0.902, -0.3191, -0.5343, -0.4519, 0.9992, 0.2672, 1.1454, 1.2171, -0.9714, 0.1902, -0.0631, 0.999]\nstate[eef_state]: left_x=0.3461 left_y=-0.1612 left_z=0.1545 left_yaw=-0.0127 left_pitch=-0.0841 left_roll=0.0368 left_gripper=0.9992 right_x=0.2997 right_y=0.0512 right_z=0.2393 right_yaw=0.1281 right_pitch=-0.3015 right_roll=-0.1897 right_gripper=0.999\nstate[joint_eff]: [-0.4855, -5.7368, 9.7026, 1.6484, -0.4078, 0.0171, -0.0122, 0.0205, -3.5214, 6.7077, 1.5409, 0.2222, 0.1099, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eda68b442e2df0aeaead4012032a2ca39d81f82a990aca005353424f3477d441",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6298b29255aa59c509a4a050c1b0db5417c8051af73237770b7c776c6453cbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:18a60c9deb02c97328468f35fe8a09c7de004aa5478f553e9374d27746cf3bd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 3.167 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.6151, -0.0189, -0.0387, 0.9992, 0.7074, 1.9076, 1.6627, -0.7254, 0.4549, 0.2916, 0.9948]\nstate[eef_state]: left_x=0.2589 left_y=0.002 left_z=0.1304 left_yaw=0.0029 left_pitch=-0.2506 left_roll=0.0013 left_gripper=0.9992 right_x=0.4196 right_y=0.2614 right_z=0.1714 right_yaw=0.1429 right_pitch=-0.2576 right_roll=-0.1843 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -1.1829, 6.8171, 1.4921, -0.0415, -0.0708, -0.0122, 0.0205, -12.5197, 7.0359, 1.5214, 0.2173, 0.0513, -0.1685]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6331, -0.0189, -0.0383, 0.9992, 0.2684, 1.1412, 1.2175, -0.9535, 0.2047, -0.0467, 0.999]\nstate[eef_state]: left_x=0.2557 left_y=0.0021 left_z=0.127 left_yaw=0.0028 left_pitch=-0.2704 left_roll=0.0021 left_gripper=0.9992 right_x=0.3028 right_y=0.0498 right_z=0.2438 right_yaw=0.1085 right_pitch=-0.2759 right_roll=-0.1868 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -1.347, 6.8171, 1.6093, -0.0611, -0.0317, -0.0122, -0.1026, -3.8359, 6.3932, 1.746, 0.0757, -0.022, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6834, 1.3758, 0.902, -0.3191, -0.5343, -0.4519, 0.9992, 0.2672, 1.1454, 1.2171, -0.9714, 0.1902, -0.0631, 0.999]\nstate[eef_state]: left_x=0.3461 left_y=-0.1612 left_z=0.1545 left_yaw=-0.0127 left_pitch=-0.0841 left_roll=0.0368 left_gripper=0.9992 right_x=0.2997 right_y=0.0512 right_z=0.2393 right_yaw=0.1281 right_pitch=-0.3015 right_roll=-0.1897 right_gripper=0.999\nstate[joint_eff]: [-0.4855, -5.7368, 9.7026, 1.6484, -0.4078, 0.0171, -0.0122, 0.0205, -3.5214, 6.7077, 1.5409, 0.2222, 0.1099, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eda68b442e2df0aeaead4012032a2ca39d81f82a990aca005353424f3477d441",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6298b29255aa59c509a4a050c1b0db5417c8051af73237770b7c776c6453cbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18a60c9deb02c97328468f35fe8a09c7de004aa5478f553e9374d27746cf3bd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISkgUKjgEIEhgCKkCyMLK7v1ALsCwBczx22DL2z6lSQRmkyjF1wCWr3fQ4ABW+qUK68y5B7SM2+iggRe8vzQOrZ4/WS0orOlVR4PQ/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZeAzNUGEgz92fCUR/3cTdrioUUaDEWVe29aOvLh0/yM2yIw0748YQTLVpYtA01ruhRFpCYOk/OSJDgtsnsCcJhl+d7io800LOuyeJmvUHpEUmXXKrADgBnQlMY0780cNkr59oCskCg5TYgLQF+J977tL8R7VxNZfBdyWwSGZcazfSNyaSWhXPPbqsmhvBfAAK3YolzFkhIqy9mIcpwCsS4qv3UoZ6tLJLOMCFSPrJZtbQTteLG3VPJN3E2d04odT9NuIz9FJgTEZTW5gFKegiPxWDp7aSUXfuzV7kKUWDyRlTgMyoXd51oHn4NN31zAU9Uq1L+QwsxYZzj0dhTH1eyVhFI2eru6SESDDxyYB6CW8t7OkZ5AZ4IcXeBsTEV325Q2EY+gG7wIewpzSLu4shRrqVNUXUxIB58bvejcfTcih9RYQoR+yFlqbovS8E7Dmu1j5zguG2qL/wfdIzX/oZFOw9rTD7AL9MxYC4U+QpR9AUU836VX7jLmu3K6sgZ8460of7N9UCjbQo70dOGPgWs2yfAUhb5KPrB/lUpjja5R6cMR6wsv554RlrKsmJOB0KP5jcvu7tvc9aXICPSOjs6z0+M6whTJMjhhE0U8u0P38RxM92Ga4uv4ntK0cuZpz+ZVGkw2+0z019U9ABMjVBcUDwN7XLH0jppQcKNkft40cbTTxf+EGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013ZdxysMdHz4V1z1DC1iziF",
      "input": {
        "note": "The poodle sits at the lower-left of the left wrist view, just inboard of the jaw column; shifting ~2 cm toward +y and descending to table level to straddle it.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.145,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_013ZdxysMdHz4V1z1DC1iziF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6312, 1.6623, 0.5591, 0.2508, -0.5014, -0.4164, 0.9992, 0.2672, 1.1454, 1.2171, -0.9939, 0.1894, -0.0639, 0.9989]\nstate[eef_state]: left_x=0.3398 left_y=-0.1388 left_z=0.014 left_yaw=-0.0002 left_pitch=-0.1473 left_roll=0.0813 left_gripper=0.9992 right_x=0.2955 right_y=0.0501 right_z=0.2359 right_yaw=0.1282 right_pitch=-0.3239 right_roll=-0.1928 right_gripper=0.9989\nstate[joint_eff]: [0.4991, -6.9949, 4.7385, 1.7265, -0.2222, 0.0171, -0.0122, -0.1846, -3.2205, 6.3521, 1.536, 0.0659, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61b0a0d4e46cb9143b1ff078f855075b8e001280a4ada22498d1f79656afb759",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1bae19b81a37f8dd7775df6b153c051c41de865f095a7514d20aeffcad95c9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:643cfc107caeb7db1357f2adcf48c37c63118a70fa7cfcfcf53b5a7285a16f54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 5.228 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6331, -0.0189, -0.0383, 0.9992, 0.2684, 1.1412, 1.2175, -0.9535, 0.2047, -0.0467, 0.999]\nstate[eef_state]: left_x=0.2557 left_y=0.0021 left_z=0.127 left_yaw=0.0028 left_pitch=-0.2704 left_roll=0.0021 left_gripper=0.9992 right_x=0.3028 right_y=0.0498 right_z=0.2438 right_yaw=0.1085 right_pitch=-0.2759 right_roll=-0.1868 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -1.347, 6.8171, 1.6093, -0.0611, -0.0317, -0.0122, -0.1026, -3.8359, 6.3932, 1.746, 0.0757, -0.022, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6834, 1.3758, 0.902, -0.3191, -0.5343, -0.4519, 0.9992, 0.2672, 1.1454, 1.2171, -0.9714, 0.1902, -0.0631, 0.999]\nstate[eef_state]: left_x=0.3461 left_y=-0.1612 left_z=0.1545 left_yaw=-0.0127 left_pitch=-0.0841 left_roll=0.0368 left_gripper=0.9992 right_x=0.2997 right_y=0.0512 right_z=0.2393 right_yaw=0.1281 right_pitch=-0.3015 right_roll=-0.1897 right_gripper=0.999\nstate[joint_eff]: [-0.4855, -5.7368, 9.7026, 1.6484, -0.4078, 0.0171, -0.0122, 0.0205, -3.5214, 6.7077, 1.5409, 0.2222, 0.1099, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6312, 1.6623, 0.5591, 0.2508, -0.5014, -0.4164, 0.9992, 0.2672, 1.1454, 1.2171, -0.9939, 0.1894, -0.0639, 0.9989]\nstate[eef_state]: left_x=0.3398 left_y=-0.1388 left_z=0.014 left_yaw=-0.0002 left_pitch=-0.1473 left_roll=0.0813 left_gripper=0.9992 right_x=0.2955 right_y=0.0501 right_z=0.2359 right_yaw=0.1282 right_pitch=-0.3239 right_roll=-0.1928 right_gripper=0.9989\nstate[joint_eff]: [0.4991, -6.9949, 4.7385, 1.7265, -0.2222, 0.0171, -0.0122, -0.1846, -3.2205, 6.3521, 1.536, 0.0659, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61b0a0d4e46cb9143b1ff078f855075b8e001280a4ada22498d1f79656afb759",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1bae19b81a37f8dd7775df6b153c051c41de865f095a7514d20aeffcad95c9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:643cfc107caeb7db1357f2adcf48c37c63118a70fa7cfcfcf53b5a7285a16f54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpAIKjgEIEhgCKkAVbWlm6tOQpsb5q1HoKZ1ywAKRI/x8SWluQELfkILmgmo1KCsrqspw2KQCqtIWSWEbPj1/ZbF55DfJYMIzUQYzMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZyAzNUGEgysTM8VBCS2JV8m94caDFUI46lbRT0r+KuE/SIwdtPcklbLKmnKRsnm/Tr9bRwuiYYXqs7PaB/tpdMjJH6ZCdX0PPk0ge8NDuVKn3naKkMQE3JiQGvBzW44DxPZU5IruH76AP6Zu6cVE3jhZLz+QUo3bHE12g0mHWn4DZCxL3lihKw3ldluFw2Vwd+USZcO6oXfGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012GHiPhBNxmmG8gtAsW6UaZ",
      "input": {
        "note": "The poodle fills the left wrist view right between the jaws at table level; closing fully to grip it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012GHiPhBNxmmG8gtAsW6UaZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6289, 1.6733, 0.5449, 0.2611, -0.5091, -0.424, 0.1305, 0.2672, 1.1458, 1.2171, -1.0161, 0.189, -0.0643, 0.9989]\nstate[eef_state]: left_x=0.3368 left_y=-0.1341 left_z=0.008 left_yaw=0.0133 left_pitch=-0.1555 left_roll=0.0892 left_gripper=0.1305 right_x=0.2914 right_y=0.0491 right_z=0.2326 right_yaw=0.1277 right_pitch=-0.3463 right_roll=-0.1961 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -7.3504, 5.9145, 1.2723, -0.1783, 0.0317, 0.8962, -0.1162, -3.0291, 6.3658, 1.5311, 0.022, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f1ce66d4ed6621cfc61aa7ac3bf47b86ba8b61f9940cdb7a05fdbf9ba052bd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8417853479b249bfc077fa57fc7dfd65149d637507b25c41a74a933e328bddf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fa5a79dcef564a5376e7fb842e44ec2a954f15d72f97683cfdb46d2a13176989",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 4.923 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6834, 1.3758, 0.902, -0.3191, -0.5343, -0.4519, 0.9992, 0.2672, 1.1454, 1.2171, -0.9714, 0.1902, -0.0631, 0.999]\nstate[eef_state]: left_x=0.3461 left_y=-0.1612 left_z=0.1545 left_yaw=-0.0127 left_pitch=-0.0841 left_roll=0.0368 left_gripper=0.9992 right_x=0.2997 right_y=0.0512 right_z=0.2393 right_yaw=0.1281 right_pitch=-0.3015 right_roll=-0.1897 right_gripper=0.999\nstate[joint_eff]: [-0.4855, -5.7368, 9.7026, 1.6484, -0.4078, 0.0171, -0.0122, 0.0205, -3.5214, 6.7077, 1.5409, 0.2222, 0.1099, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6312, 1.6623, 0.5591, 0.2508, -0.5014, -0.4164, 0.9992, 0.2672, 1.1454, 1.2171, -0.9939, 0.1894, -0.0639, 0.9989]\nstate[eef_state]: left_x=0.3398 left_y=-0.1388 left_z=0.014 left_yaw=-0.0002 left_pitch=-0.1473 left_roll=0.0813 left_gripper=0.9992 right_x=0.2955 right_y=0.0501 right_z=0.2359 right_yaw=0.1282 right_pitch=-0.3239 right_roll=-0.1928 right_gripper=0.9989\nstate[joint_eff]: [0.4991, -6.9949, 4.7385, 1.7265, -0.2222, 0.0171, -0.0122, -0.1846, -3.2205, 6.3521, 1.536, 0.0659, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6289, 1.6733, 0.5449, 0.2611, -0.5091, -0.424, 0.1305, 0.2672, 1.1458, 1.2171, -1.0161, 0.189, -0.0643, 0.9989]\nstate[eef_state]: left_x=0.3368 left_y=-0.1341 left_z=0.008 left_yaw=0.0133 left_pitch=-0.1555 left_roll=0.0892 left_gripper=0.1305 right_x=0.2914 right_y=0.0491 right_z=0.2326 right_yaw=0.1277 right_pitch=-0.3463 right_roll=-0.1961 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -7.3504, 5.9145, 1.2723, -0.1783, 0.0317, 0.8962, -0.1162, -3.0291, 6.3658, 1.5311, 0.022, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f1ce66d4ed6621cfc61aa7ac3bf47b86ba8b61f9940cdb7a05fdbf9ba052bd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8417853479b249bfc077fa57fc7dfd65149d637507b25c41a74a933e328bddf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa5a79dcef564a5376e7fb842e44ec2a954f15d72f97683cfdb46d2a13176989",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7AMKjgEIEhgCKkC1HBX2Ie2H11R20NAT3HOzvkcfoIl/iF7Iz3lZcC4cHnqWVL0yYKtOzlJzc19iM8ROVDBoFZG7FoVrlnvBfL5NMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaGAzNUGEgyujiCg0yRjQxin62gaDNMlENya+mgh5il6liIwy9XzOUG7ArJuP6tHl4BBK+dx1KjskOXrMmjal52Je7VUzsJ3MAzkqtaodh5O9jjkKooCLoaLMSho2IdArWAJc+JHe9G7jZ4Ji5JCr2ycE/j7DLM78wwmW+dbJowBkUHw73l45D1IZEANULhEdZmnHqCB/Rr69JiSjnJ2bSr8Nnu5pGLWPHUuSQVU5H79r3tFiNAfhdpMnNTkPUII4AgDkFk83mMTRhsm6+QYja4E3Wff+txgicqA/SqOHqR0YIY5WVm9jBB8Ag2UUzV5pVoJUfTuo27EyFOCCyJkOm7qA7bNDAQepmEWdmuGl4VhDxYjvq1iosfAoe2rOj4Isckn1u0fZYek8BJPOCGMpDJk30XjC7ikF1QnRUMCpvM7f/KXqjMu+zEJ9bipypfoDXVRvr4+XQnTyKa73VUWwhcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EcpZLVyUf9WzSH8bctTPtP",
      "input": {
        "note": "Gripper settled at 0.13 with fur pinched; lifting to 25 cm to check the poodle comes along before carrying it to the safe.",
        "targets": {
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01EcpZLVyUf9WzSH8bctTPtP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6285, 1.3426, 1.2507, -0.7933, -0.5049, -0.432, 0.1326, 0.2672, 1.1454, 1.2171, -1.0351, 0.1894, -0.0643, 0.9989]\nstate[eef_state]: left_x=0.3371 left_y=-0.135 left_z=0.2326 left_yaw=0.0168 left_pitch=-0.1713 left_roll=0.0915 left_gripper=0.1326 right_x=0.2877 right_y=0.048 right_z=0.23 right_yaw=0.1264 right_pitch=-0.3648 right_roll=-0.1992 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -5.3812, 9.1282, 1.3993, -0.2857, 0.0269, 0.7595, -0.0889, -3.1658, 6.2838, 1.4774, 0.0513, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff6ea23e0c63e1340ab47ee8382b0b4a7628385a8e021e848e9ec7ce77cb4357",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fb929ad261563c68a0b393b915fab8e4a4ac5ba72530fd074fa3ab668d0d438",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3e16b896b3f4ae6cab2acaa02c87761e50bd9fe9d7162171d77e9fbf69f298bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /messages · status 200 · 3.572 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6312, 1.6623, 0.5591, 0.2508, -0.5014, -0.4164, 0.9992, 0.2672, 1.1454, 1.2171, -0.9939, 0.1894, -0.0639, 0.9989]\nstate[eef_state]: left_x=0.3398 left_y=-0.1388 left_z=0.014 left_yaw=-0.0002 left_pitch=-0.1473 left_roll=0.0813 left_gripper=0.9992 right_x=0.2955 right_y=0.0501 right_z=0.2359 right_yaw=0.1282 right_pitch=-0.3239 right_roll=-0.1928 right_gripper=0.9989\nstate[joint_eff]: [0.4991, -6.9949, 4.7385, 1.7265, -0.2222, 0.0171, -0.0122, -0.1846, -3.2205, 6.3521, 1.536, 0.0659, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6289, 1.6733, 0.5449, 0.2611, -0.5091, -0.424, 0.1305, 0.2672, 1.1458, 1.2171, -1.0161, 0.189, -0.0643, 0.9989]\nstate[eef_state]: left_x=0.3368 left_y=-0.1341 left_z=0.008 left_yaw=0.0133 left_pitch=-0.1555 left_roll=0.0892 left_gripper=0.1305 right_x=0.2914 right_y=0.0491 right_z=0.2326 right_yaw=0.1277 right_pitch=-0.3463 right_roll=-0.1961 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -7.3504, 5.9145, 1.2723, -0.1783, 0.0317, 0.8962, -0.1162, -3.0291, 6.3658, 1.5311, 0.022, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6285, 1.3426, 1.2507, -0.7933, -0.5049, -0.432, 0.1326, 0.2672, 1.1454, 1.2171, -1.0351, 0.1894, -0.0643, 0.9989]\nstate[eef_state]: left_x=0.3371 left_y=-0.135 left_z=0.2326 left_yaw=0.0168 left_pitch=-0.1713 left_roll=0.0915 left_gripper=0.1326 right_x=0.2877 right_y=0.048 right_z=0.23 right_yaw=0.1264 right_pitch=-0.3648 right_roll=-0.1992 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -5.3812, 9.1282, 1.3993, -0.2857, 0.0269, 0.7595, -0.0889, -3.1658, 6.2838, 1.4774, 0.0513, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff6ea23e0c63e1340ab47ee8382b0b4a7628385a8e021e848e9ec7ce77cb4357",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fb929ad261563c68a0b393b915fab8e4a4ac5ba72530fd074fa3ab668d0d438",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e16b896b3f4ae6cab2acaa02c87761e50bd9fe9d7162171d77e9fbf69f298bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStQMKjgEIEhgCKkAOT3dSrssrvLHZ8BVk8I8pjkSxeP3Zzy6On2MAwCsEASlKnEo6ncqZi5AZxJZzJIjDMXRE85zRATlU4b+Fuv32Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaiAzNUGEgxJ6pWTw65hUCJbY5saDFP8o2p2bxzTIY8A0SIwR9TF5JDPfme1svjwSqk7Xuxz7c03gRC04X2r5gVCQVNwFYKm5CBLdnGzkUMCgFSXKtMBzi4bj8pxwLnZjLlULrPuTFR8kwZMOXMsMIk2PNrAklxyoeU8U63qInEwDFNTcrCSVc3ehrKDk7VIIORzl88xSl9sqqDQdaOEpe9jlABC856lXuR1JEpEkCVGcuU/jlQTqqJbDFQ+t+ftVHdghuloqfLCc7eErfK4zrr0o1zgkAXvIvnfe6zs3hElGphM4d2NBQBEI4UkOWtw5QZJK8WeBIkkuVxTIvUcGB8FcJkjH9HaDmWlWX/MwuF4Hhf4FbeNbg7jobR9k9LR1ZRLh74Ko5AzIhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BjQYkin5UaYLf1VWddKm7K",
      "input": {
        "note": "Poodle is lifted off the table; carrying it right and forward to hover over the open safe's red interior.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.36,
          "left_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01BjQYkin5UaYLf1VWddKm7K",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.907, 2.5328, 2.9101, -1.4582, -0.6449, -0.7162, 0.135, 0.2672, 1.1458, 1.2171, -1.058, 0.189, -0.0643, 0.999]\nstate[eef_state]: left_x=0.4202 left_y=-0.359 left_z=0.2227 left_yaw=0.017 left_pitch=-0.2111 left_roll=0.1081 left_gripper=0.135 right_x=0.2832 right_y=0.0469 right_z=0.2268 right_yaw=0.1254 right_pitch=-0.3878 right_roll=-0.2024 right_gripper=0.999\nstate[joint_eff]: [-0.4855, -15.8564, 8.4444, 0.7595, -0.652, 0.0611, 0.5739, -0.1983, -2.9197, 6.4615, 1.5067, 0.0757, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:721d07cec8815ac885af04738947b5da686c5e0e60e0a5cd3dfa44d4c2cae30c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6990b021b0d9c238be877ccd3aff0ca6d54e26ad22242f6ed743fa8e1f9f7b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a2aec72a0a16bd5ccb004fd572f61c3a1a5829d35094f800d0f1446390d8b020",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /messages · status 200 · 5.636 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6289, 1.6733, 0.5449, 0.2611, -0.5091, -0.424, 0.1305, 0.2672, 1.1458, 1.2171, -1.0161, 0.189, -0.0643, 0.9989]\nstate[eef_state]: left_x=0.3368 left_y=-0.1341 left_z=0.008 left_yaw=0.0133 left_pitch=-0.1555 left_roll=0.0892 left_gripper=0.1305 right_x=0.2914 right_y=0.0491 right_z=0.2326 right_yaw=0.1277 right_pitch=-0.3463 right_roll=-0.1961 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -7.3504, 5.9145, 1.2723, -0.1783, 0.0317, 0.8962, -0.1162, -3.0291, 6.3658, 1.5311, 0.022, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6285, 1.3426, 1.2507, -0.7933, -0.5049, -0.432, 0.1326, 0.2672, 1.1454, 1.2171, -1.0351, 0.1894, -0.0643, 0.9989]\nstate[eef_state]: left_x=0.3371 left_y=-0.135 left_z=0.2326 left_yaw=0.0168 left_pitch=-0.1713 left_roll=0.0915 left_gripper=0.1326 right_x=0.2877 right_y=0.048 right_z=0.23 right_yaw=0.1264 right_pitch=-0.3648 right_roll=-0.1992 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -5.3812, 9.1282, 1.3993, -0.2857, 0.0269, 0.7595, -0.0889, -3.1658, 6.2838, 1.4774, 0.0513, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.907, 2.5328, 2.9101, -1.4582, -0.6449, -0.7162, 0.135, 0.2672, 1.1458, 1.2171, -1.058, 0.189, -0.0643, 0.999]\nstate[eef_state]: left_x=0.4202 left_y=-0.359 left_z=0.2227 left_yaw=0.017 left_pitch=-0.2111 left_roll=0.1081 left_gripper=0.135 right_x=0.2832 right_y=0.0469 right_z=0.2268 right_yaw=0.1254 right_pitch=-0.3878 right_roll=-0.2024 right_gripper=0.999\nstate[joint_eff]: [-0.4855, -15.8564, 8.4444, 0.7595, -0.652, 0.0611, 0.5739, -0.1983, -2.9197, 6.4615, 1.5067, 0.0757, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:721d07cec8815ac885af04738947b5da686c5e0e60e0a5cd3dfa44d4c2cae30c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6990b021b0d9c238be877ccd3aff0ca6d54e26ad22242f6ed743fa8e1f9f7b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2aec72a0a16bd5ccb004fd572f61c3a1a5829d35094f800d0f1446390d8b020",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7AIKjgEIEhgCKkAuv4Nr9MwiLl8zQPEpCkWNFMLoXeBHogqXGzAxwLEaI2Ov+tPjxvhkg/ECz3+MEY5Wh7bfY4TRD1/5L0KaCgniMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa6AzNUGEgyhbEx3AeGud116W3caDGHdk3ffchAin9/SryIwed9lW63dsxNexY+vXMxht5dYz75llmoz07A/fm9ysdofnk/mNqXf7ISj3Zus6ip2KooBk/bKHWgX3750atTC4uAUybiyVqiMjMcc/WOFAhd/55JiSL/fL/4tkOLzKRMax9YFBLFneXkOlhJeIP9edm9NqQN+37mKkUKm9syoULeWyookvmoktaXj7RkJ641ZlADC5bGK+ejl9yk9sexorvh/9Nlx5LisM1TosO9dtXVYun4bfU9x86QMfgugGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GR5Td98vxWtbQiYJwtfEvV",
      "input": {
        "note": "The poodle hangs over the red interior of the safe; lowering slightly and opening the jaws to drop it in.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01GR5Td98vxWtbQiYJwtfEvV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9085, 2.3707, 2.3875, -1.1664, -0.6411, -0.7197, 0.9953, 0.2672, 1.1458, 1.2171, -1.0798, 0.1894, -0.0643, 0.9989]\nstate[eef_state]: left_x=0.4181 left_y=-0.3585 left_z=0.167 left_yaw=0.0282 left_pitch=-0.2546 left_roll=0.1601 left_gripper=0.9953 right_x=0.279 right_y=0.0456 right_z=0.2239 right_yaw=0.1238 right_pitch=-0.4093 right_roll=-0.2061 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -17.2103, 5.5043, 1.1551, -0.4078, -0.0269, -0.1343, -0.1573, -3.0017, 6.3932, 1.4286, 0.0806, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00d640d48dfe24867e4287fa8c2057b9efc7881ad5da98d73dc6d2f4d50dd8a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:574cd153e24ae9183ae2c3574ae589f5d55d4a3c50166d7cba0919a93e1825ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9c152426c7ee6a688b661768b2e98e4187cae087389a6f83b65832f21bb817b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 21.5 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6285, 1.3426, 1.2507, -0.7933, -0.5049, -0.432, 0.1326, 0.2672, 1.1454, 1.2171, -1.0351, 0.1894, -0.0643, 0.9989]\nstate[eef_state]: left_x=0.3371 left_y=-0.135 left_z=0.2326 left_yaw=0.0168 left_pitch=-0.1713 left_roll=0.0915 left_gripper=0.1326 right_x=0.2877 right_y=0.048 right_z=0.23 right_yaw=0.1264 right_pitch=-0.3648 right_roll=-0.1992 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -5.3812, 9.1282, 1.3993, -0.2857, 0.0269, 0.7595, -0.0889, -3.1658, 6.2838, 1.4774, 0.0513, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.907, 2.5328, 2.9101, -1.4582, -0.6449, -0.7162, 0.135, 0.2672, 1.1458, 1.2171, -1.058, 0.189, -0.0643, 0.999]\nstate[eef_state]: left_x=0.4202 left_y=-0.359 left_z=0.2227 left_yaw=0.017 left_pitch=-0.2111 left_roll=0.1081 left_gripper=0.135 right_x=0.2832 right_y=0.0469 right_z=0.2268 right_yaw=0.1254 right_pitch=-0.3878 right_roll=-0.2024 right_gripper=0.999\nstate[joint_eff]: [-0.4855, -15.8564, 8.4444, 0.7595, -0.652, 0.0611, 0.5739, -0.1983, -2.9197, 6.4615, 1.5067, 0.0757, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9085, 2.3707, 2.3875, -1.1664, -0.6411, -0.7197, 0.9953, 0.2672, 1.1458, 1.2171, -1.0798, 0.1894, -0.0643, 0.9989]\nstate[eef_state]: left_x=0.4181 left_y=-0.3585 left_z=0.167 left_yaw=0.0282 left_pitch=-0.2546 left_roll=0.1601 left_gripper=0.9953 right_x=0.279 right_y=0.0456 right_z=0.2239 right_yaw=0.1238 right_pitch=-0.4093 right_roll=-0.2061 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -17.2103, 5.5043, 1.1551, -0.4078, -0.0269, -0.1343, -0.1573, -3.0017, 6.3932, 1.4286, 0.0806, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00d640d48dfe24867e4287fa8c2057b9efc7881ad5da98d73dc6d2f4d50dd8a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:574cd153e24ae9183ae2c3574ae589f5d55d4a3c50166d7cba0919a93e1825ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c152426c7ee6a688b661768b2e98e4187cae087389a6f83b65832f21bb817b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISogUKjgEIEhgCKkA+/nwipUWiFx7JcKwyeGQGnqxrHH/TjTKo0K0Ry1B5qdhkX7750slXVdT0NhN2WFCWdT7b7vVqYvHJd31KkV6QMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbSAzNUGEgyLRna9a2XHi3y37eQaDKYVuu2I+4gK7dweCCIw1PiqhN7zfvPlUScS8zCfHHiJ0CNcCBggZGLGgXC7PA4eEOBFbOhGtkyH9D/6TDqFKsADhBpaOJhnjs0shnGUED5GwidOxA6RRVdsEZqPmBdLFRj7yTbjOsZunDITG2m/UtE5Y6q+xBdLsIss576nRLUKslSBOymh018vEsYUMXuNIXH9wB4KGvrUZqhe/qTt5rW+Asdk3TWcYNyOxFOoxaxWcdfAVfCWZHZLPDkdbgNpE++aCpRK9ewQY6KeV98vtrUcvAAyxfg8GMGgSGFfqt6RlTzY98boG0KIudrstJLij1+f1AfAPHS4v7dZWpLMTSOvudjEwZkG8OGOowmFS+EXfvo56rHYFm/Ckh4QWU04iAesozlDhOMsdGbi3ZaM7LigR+P2UxpkEIyIJJ1XoGiQ11vHAdaaM3kQF3dqFa1vKBqzp2KvhyOHZnzgZybunIAdlkZZAz/70WdmQQgQm99sEvXN4+0KJKYwc+jI9oXa3d628rddG5smIUDAODXXUd+K/UgKYM7NTEKzQ+7lxAGvg7r0G+NghJaAvUAeu8Kd5hkZw4ps/emALJV6vjvz63afnYIGtOIz7kk9apDh1RQOZWBJLHxzq1J5jbOxcE7155QbLlEfdo/oaGeer9Ze4tvaBjtg643Z9HK3f3GODdt4eBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0169qp7sbUzDpRrGWjrRNwvs",
      "input": {
        "note": "Released the poodle but it may have landed on the safe's rim rather than inside; retracting the left arm so the overhead camera can show the safe clearly.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.1,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_0169qp7sbUzDpRrGWjrRNwvs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6113, 1.2781, 1.3193, -1.0279, -0.5041, -0.437, 0.9963, 0.2672, 1.1458, 1.2171, -1.0916, 0.1894, -0.0643, 0.999]\nstate[eef_state]: left_x=0.305 left_y=-0.1052 left_z=0.2475 left_yaw=0.0494 left_pitch=-0.252 left_roll=0.1504 left_gripper=0.9963 right_x=0.2766 right_y=0.045 right_z=0.2224 right_yaw=0.123 right_pitch=-0.421 right_roll=-0.2079 right_gripper=0.999\nstate[joint_eff]: [0.1983, -5.053, 6.0513, 1.4823, -0.1294, 0.1538, 0.0904, -0.0889, -3.1111, 6.2701, 1.3553, 0.022, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1831663b2499ca43edc6b7b73e9d83d39804c13794aeeedcc4d0b57f23a6a723",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd166b61bdcfbb003506bd043f9abfd9fe03b919b90b20f5cddb5c53b2722df2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1d086ceb03f66cff358fc37bd31e404d39d96dcd1ea825052f1a36387300fe36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /messages · status 200 · 10.63 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.907, 2.5328, 2.9101, -1.4582, -0.6449, -0.7162, 0.135, 0.2672, 1.1458, 1.2171, -1.058, 0.189, -0.0643, 0.999]\nstate[eef_state]: left_x=0.4202 left_y=-0.359 left_z=0.2227 left_yaw=0.017 left_pitch=-0.2111 left_roll=0.1081 left_gripper=0.135 right_x=0.2832 right_y=0.0469 right_z=0.2268 right_yaw=0.1254 right_pitch=-0.3878 right_roll=-0.2024 right_gripper=0.999\nstate[joint_eff]: [-0.4855, -15.8564, 8.4444, 0.7595, -0.652, 0.0611, 0.5739, -0.1983, -2.9197, 6.4615, 1.5067, 0.0757, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9085, 2.3707, 2.3875, -1.1664, -0.6411, -0.7197, 0.9953, 0.2672, 1.1458, 1.2171, -1.0798, 0.1894, -0.0643, 0.9989]\nstate[eef_state]: left_x=0.4181 left_y=-0.3585 left_z=0.167 left_yaw=0.0282 left_pitch=-0.2546 left_roll=0.1601 left_gripper=0.9953 right_x=0.279 right_y=0.0456 right_z=0.2239 right_yaw=0.1238 right_pitch=-0.4093 right_roll=-0.2061 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -17.2103, 5.5043, 1.1551, -0.4078, -0.0269, -0.1343, -0.1573, -3.0017, 6.3932, 1.4286, 0.0806, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6113, 1.2781, 1.3193, -1.0279, -0.5041, -0.437, 0.9963, 0.2672, 1.1458, 1.2171, -1.0916, 0.1894, -0.0643, 0.999]\nstate[eef_state]: left_x=0.305 left_y=-0.1052 left_z=0.2475 left_yaw=0.0494 left_pitch=-0.252 left_roll=0.1504 left_gripper=0.9963 right_x=0.2766 right_y=0.045 right_z=0.2224 right_yaw=0.123 right_pitch=-0.421 right_roll=-0.2079 right_gripper=0.999\nstate[joint_eff]: [0.1983, -5.053, 6.0513, 1.4823, -0.1294, 0.1538, 0.0904, -0.0889, -3.1111, 6.2701, 1.3553, 0.022, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1831663b2499ca43edc6b7b73e9d83d39804c13794aeeedcc4d0b57f23a6a723",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd166b61bdcfbb003506bd043f9abfd9fe03b919b90b20f5cddb5c53b2722df2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d086ceb03f66cff358fc37bd31e404d39d96dcd1ea825052f1a36387300fe36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0RkKjgEIEhgCKkA8wBmO5LrTNHsc1tExoFHIs+N4fkOYOEjTDLLcC9lWcXyImCwjfw8kG39EJACqRGwfA2RBhFTllyEIepgYsWirMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcuAzNUGEgyM2eS97dd7cPgds1caDANi7KnXz0zeKnPZRyIwD5eW7NRzgzyTFN/C7xmeXhiEBcOps9j36Rx95O0xWdnHFR4AADCVnRKqPWqLD5gIKu8XA0wxeOxSRmg8Ir+iVYlJqtM2xzb5TCyxgcm/G0ZT5+Dn1kNWfAGG3u0IKJQGRZyJgPGvXiqKYtmVaTrSNVgoivwd/oX8xpQvzIJFRWopbEJFTGEjFAW9W2/7KldjYf/L4DuIkGTyGKSpYUgbjNbZR52Qhq1RSyPFVEkoVFXUmbcHLuvCCuWI3jRwm4QwTEFOTIvpTaNlc3/DkEUoFPGm8v5jmXEWhXi5khvSIGBzLmqy+Jle8GT2iUHjbe29qKyUVLbZ15EHARIEVcYHwTMGzoJ/yJzueUea+i14eFYKnP2mgK+LsbU+3r74pJbmmcJPa6QJ+qTj2LBEu3pNkpPqs6tpvgJ7qyGult1+WUbO5/RpQV7Au3hXivUvCQuD7GFKQKVRTKCTaPG9jxCnfnXrhUt/qvhCCqvSyHwzNzzcMddiW2xLU2Fw7zp8g6Ap96SXIy45G14XmsT+zucqYJmoPKbABhagwEnKiuWiuFiPqfESJGoxvUqYWRHQlFpQsDIE81U4Kh25/b2jtxxjaGDo9kMBBPhvHxoYLxD8959N8kMhD4DWFgU57OciN8zf7qHxRlyjwOhJHFQULccB8oy7iTf9I3mFofXbcg73ppfaNswImtDZMRfnvpM4yk213ks94cSVuE/u6b5cjPjxUB5/xZv3KPZFAMBoBcTT0rtDW3rmCTJu+ocZQmluU7DBDHTJIOupFoQppIV3IIqqBrgeq4FNhbZJqjVdnaHjhsTc0thBjrt0us2mCPYbTYkj421kQL5BwDJLdPTykgDzct4aaAe1LhU9RO0hc9/Zzi8QLwarTzTVI8g27M0W3eJigBXtj0wWKZVLs5QMOcYj1S9B8KevtuPvC0t4HKQkuvJEkLacYjiRD+j5yfO/q5fUBX/sKKV2l7dkoPcq20jQQ8X3Zv+DIguh2o7xXg3wtdYBToiI2y1W57Yy2tN+6yIjXhK1v2K8rif0R5H53q653MX8ylY/YwA4/kf+G8GH7j8+0z9fTff+NRE+E/idaIM+8LnPv2c1l1kvSTfMqm6lwQZhiuA+xRtLwOc4q+4EBYNg7tgZ74Tj3rWQm0hXLbOGo22OWTqCHTEOI2vfkOi3L0m94SB8j1ARJnrKxTT6mmQE14HMJaXl6oVNo8ypGZEi/E9BEJ7lXji+J0j6QDm5HqjJMTnhF7GaFqeEN2NIKZPA7BDJUGE7HU2bVlzJuLR1UfCdItPIPmkmhz3zmWXrSESrKCYEHBEljcszZNJmN2ygbV+dWmwb+zP1R1B1eogpxw+ELmQ+jXj9wfs1mWhwwB1GYiIOtw7woc7u4m9ZbzlM8AMXMypEmSrg/oL/RzR9Z9R7l2HrU4hVpwpwZ6xNvz9LUURh9i/4EeZsuwu0TtRRdIgWyg1ycAiudn705V0v2wFKKbuT/dWlG32ksvYzqpbVK/Zq3ZXdamKJoiBu89bx10lncRP9caT+GrOxv8LsdmGQWA+MPb6Dj4c0L+SkuBwvyPt2KEMpGQAuFKw7tUnaawu/HnVksnvPADf39pY4Tax0rjiWv4c4c5TNbSbIhbhok6QFRSMrPx4FMco7qf0nfZNZmaH6Qh03LLIpF4yM8h2VOoLwDt7S8kEH6hjJeZec8/atb6k+L1HSdgnwLBFScLUG50MMuVW42OeXZ5g45+UNjDm2u12GUTP/vNlQXMwnhVlkswewYeqiQ3SW8fwiSkbS9yadKQLaeQLqHy/SnHXxN+OEB5LFbnVzxthsd5YyBw15JMRczx/bvIP02WqpRlwvWOJQ1g0SroDGXl1SgDYZ4+HISOiJ+hht22r7DCX2ReFal8bHj79059nYmyNPF845Ao7emQHfApDhSOeVTd0u3sZb8kg/Ypk8a4Jw/6toL5zH66JwHipDlV0Dgt6uW7SvvbegbyCaqLa3DdkhbSwRiwhsrzv4mEaArOhl6USCUGEZUF6zHBHwTzy/wQg08BQbyiFtRNonYlHPbmItY27YEq3TbVhiEvi2QSCtm0OMzbgZArUsrZ1+EU6s8uHiy+zMEVHgwyl6X6ISIzCOe7VuV0klToj7RhBSfY2iHD5FJVzdRRZsoLii3IFiqXejbHce3Hy2oDF8nH5+Z2irJmGVpvucRVi3TMXQvjZ1L4SzcffsTyhgNPsnyIFEgi4OCxrDklW4pGtdFaiPclg4EPgUCxfKHWABHOFS6zQPjl1nze5yjBg6v+yr8dSvrPp5lbqWYaEjAW25IsqrJndTIP1xdOFmfqe2BcIuDE9RwEOpI/lNoozWGcU+D3HtsKENe+kQ+8qqXN0t61Rlv/HURD+lEqjUA3QnA9C+Mezl40zKpiu3aVP7uI5X4iHAu3tjMWmtvGPdlnhzDtuDWaQg61mUT4udFDZKuNXfR97acURPm7iFCWTNniw1nsgKyreBPorErUsLoBX2L/nGOj9uwNhkMVlzDKRwY9tGxediBMOqGG3DiwFcF7YZOkwI1CRzJndJddBjPIsigZyJkANrM5/m2vSyT8CGCHMq36+2ot/bD5Y6ODu/aBP6iSUIaRu7gPtA9bcJxo0xVuzxS0QPyd6FE9pW8FM4m3frwHpAbRhYvNW8o1awhYaZHeOQA1P+p+gpzEKA3UwruRpS9mgUnWWggc8GDa0ki24dsSs25zHIFcfUIzn52qOTR8Z6FEPVPcwvO6MmwVKUUuVv3e7iiAm3s7NEI2QFrYP/h9Bj5Ub69IbQNeNciBbABAUQwJCHxgzYKiKHNLwiy/UBHEzF6UVJ/JYsaYRaabUGQXtDef0VBCaNfI/+ds3tbC9TV1HO1wDxaLmXqg4MGB9V0QEgOhx1Fmc7MwJf7GVi+5czF9UDVDoQCKLVxh8mXcGAiPPyB9sPqJyEgv/EHQhk3zVAQX6efQYoiYtZwPaDCgkJS3QZ1ix3D878X2m5RlfJ4xmLK0ROD0RqyqMm3HrZtzuJDnC5ZZsa0xQzw8/HFFxnP+1o7qCV5CRajYH6YExaNnF9hm9s1+u9m1bWcqAku59fg/oVJlQd29rlkqhsL6LG9PYQO9zT0WOQGVlxhZrbFfXDzSq2EO8nE4RnnaigbIn1TYrmvSHABpG7uUN2pV/Vw3+YewY8E0zHNJ1j0T/eS2Ep7Jj8pzfx0Zlr3EGKMjj0WG/C36yrBfXtayaZxRBRU7jtnv9JuagTLZU47IQLsR62XSI4bjQj3RT0dG4eyTcIcyudXduwdv4BIWB3gMOgdAvD1XyZ0tKcHreFuhNmM9h7FDVvL5Ih9reT765Fn+KeiDvdoGPr0IcoDqhkcn+PVsY4tyWg25uQZ1OSuOlbgrhArvViItNWAACPvOXkQzOYO5rElA4JXvLLbYZVx3UqVnjsUdXNJPj8g6nP2+y2ZVQQoc0PhfsUsauGuPD6FPzU2iC2JdCxkXAya1X3x8VpOXqvpwtVmP7u7uCJHJcO+nDVU1VLEsZMJ7Xk7sFpfD9lbJXDxHJRPOa4tTLSvZbnyXDrk4NFgb0hvDfPBvLbMn/ilMh5Da6N9wiQasTXho7XTrqH+SKluVS5dLlddRHARYyYdMcn0lTeXM1QXTAfC4BZJS4bG2LDtN39TqQYURx0w2ng/TzF1I/0HyEQJ7gT8a7Us7i0fmWgq/dff+9MDBd03gS005hoYE1NYnrzOW8YZYpNnzNc+zs8JpgvDz/0lW2S+Xxco9OLpMf4kU2ZO3vmkMayWAFzc2wIJh62o4T1jKjA28yTsKq7gV1x9XDMLPVxCWejc95SFsgxCr7yZjdnXLT01jWBfIkz/MUvJelLATorJLwXH7Yv8ZrGIThWJCqX/yaDT5VhuFo4vSqCt12Nj6Ey84GYLycA8dK58YkGI+JIeDI91j7JOZqU506wr8UGuDbKBbffco5oaV55VUwnktAvG9t3lSUzFPu7+o3XgeAJBBN5GASFZW3HPoVZx2GGHESBsVy9i59SXSsh6d6ZcDRxcNZxRSHQ/MnLbRx5MyCXaUlVmEAFEwyggT3IRgIagrzmnd3ueSuT4AkzJkWm7/leWhNSkquClD16xNYgmnNxYl9yr2NXQleeVwCUMflbP7g0auObGtbeeb1j1xtXVxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MNJM1azfGtUZQH7ACvvDTu",
      "input": {
        "note": "Bear, lemon and poodle all appear inside the safe. Closing the right gripper and lifting it high above/behind the open lid, ready to sweep the lid shut.",
        "targets": {
          "right_gripper": 0,
          "right_x": 0.5,
          "right_y": 0.25,
          "right_z": 0.35
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01MNJM1azfGtUZQH7ACvvDTu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6083, 1.2827, 1.3148, -1.0397, -0.4934, -0.4351, 0.9965, 0.5438, 2.2726, 2.7651, -1.6012, 0.308, 0.1562, 0.0079]\nstate[eef_state]: left_x=0.303 left_y=-0.1046 left_z=0.2423 left_yaw=0.0471 left_pitch=-0.2742 left_roll=0.1577 left_gripper=0.9965 right_x=0.4402 right_y=0.2078 right_z=0.269 right_yaw=0.1513 right_pitch=-0.4536 right_roll=-0.2174 right_gripper=0.0079\nstate[joint_eff]: [-0.4171, -4.7521, 6.8171, 1.3162, -0.4127, -0.0611, 0.0024, 0.294, -10.7282, 7.3641, 1.3407, 0.3297, 0.1783, 0.7155]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 370):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:885f6af7e7cf6d4ed81c9f064971e80aa934ffda8896b2524ab690a408d6beb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 370):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2f38d10982b130fef5c362800823e670093bc40d354ae0b67199d29c2221d96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 370):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:35cbc857f71a38ca6c1995bb779a9d4c6326e5de240ed9cba673b45e137fc393",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /messages · status 200 · 5.9 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9085, 2.3707, 2.3875, -1.1664, -0.6411, -0.7197, 0.9953, 0.2672, 1.1458, 1.2171, -1.0798, 0.1894, -0.0643, 0.9989]\nstate[eef_state]: left_x=0.4181 left_y=-0.3585 left_z=0.167 left_yaw=0.0282 left_pitch=-0.2546 left_roll=0.1601 left_gripper=0.9953 right_x=0.279 right_y=0.0456 right_z=0.2239 right_yaw=0.1238 right_pitch=-0.4093 right_roll=-0.2061 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -17.2103, 5.5043, 1.1551, -0.4078, -0.0269, -0.1343, -0.1573, -3.0017, 6.3932, 1.4286, 0.0806, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6113, 1.2781, 1.3193, -1.0279, -0.5041, -0.437, 0.9963, 0.2672, 1.1458, 1.2171, -1.0916, 0.1894, -0.0643, 0.999]\nstate[eef_state]: left_x=0.305 left_y=-0.1052 left_z=0.2475 left_yaw=0.0494 left_pitch=-0.252 left_roll=0.1504 left_gripper=0.9963 right_x=0.2766 right_y=0.045 right_z=0.2224 right_yaw=0.123 right_pitch=-0.421 right_roll=-0.2079 right_gripper=0.999\nstate[joint_eff]: [0.1983, -5.053, 6.0513, 1.4823, -0.1294, 0.1538, 0.0904, -0.0889, -3.1111, 6.2701, 1.3553, 0.022, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6083, 1.2827, 1.3148, -1.0397, -0.4934, -0.4351, 0.9965, 0.5438, 2.2726, 2.7651, -1.6012, 0.308, 0.1562, 0.0079]\nstate[eef_state]: left_x=0.303 left_y=-0.1046 left_z=0.2423 left_yaw=0.0471 left_pitch=-0.2742 left_roll=0.1577 left_gripper=0.9965 right_x=0.4402 right_y=0.2078 right_z=0.269 right_yaw=0.1513 right_pitch=-0.4536 right_roll=-0.2174 right_gripper=0.0079\nstate[joint_eff]: [-0.4171, -4.7521, 6.8171, 1.3162, -0.4127, -0.0611, 0.0024, 0.294, -10.7282, 7.3641, 1.3407, 0.3297, 0.1783, 0.7155]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 370):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:885f6af7e7cf6d4ed81c9f064971e80aa934ffda8896b2524ab690a408d6beb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 370):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2f38d10982b130fef5c362800823e670093bc40d354ae0b67199d29c2221d96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 370):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35cbc857f71a38ca6c1995bb779a9d4c6326e5de240ed9cba673b45e137fc393",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1goKjgEIEhgCKkDoiEochUE5Z/q9CPxsjhPL2RoPPrexImSN9mKOvwWfObaDwHjZeAGnyM07BE1xaGfG67cwh7U7kB5gK9oY1wlwMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdiAzNUGEgyOiqSrobRWGnTbjNYaDKpi4PH4wfcpwM0rEiIwz2Kil/n5wkzyJTf2ZjkAY/EkQcCUhB6hDU+8lpj9Qd8WNWQdYo71EwxxODgulHvWKvQIh2uo+y9Grs8mLyHx29oxrw0MTMpJdDWHhd5bdlGE+OOddkEvKNWFJphzqWkETNoKOjVsdvjBRXAbEyLltemdenUOLj+ZwKXdBl1EX/e7/H3M3DDm+00JDjSUOvYKYFX3l6AAxoXl3OaiLZsfxsNKME8fex/aSKo9ngKsBYiQm4HzX3jDK/+Px3DiAxFvqKzC8PGhbNB2xwJsP9erguNeWhBDfzQSbTfroEk6A8/31P6vsKd0jxno7r7nciBz9tKTN4Tw8PqOQIQObJgjIfTx00XlmUdVHQ+HXvh8GjzvXoY3T6SpdJZgQ0u1oFIWfJThsuRqWhQGu5VwqANvg5uUQw7fRLCTWmEEjrbS8/jXKkOkvbj7Nlonvj4oJy59P4wH6d4aZtrKDjGUZ5FTSkFqCCQoLqKdOnufaKUr37QJVBzY3DTkSk8J6rEeg3Wn/PfEt8cDmOPRQ/bG66I9pnwcxKUa3pC857VX/u/FxnEJ+HwDfWIjB+pupwjHiV11E0GqIdihTn0Jzdo+sOd5XcQZlrSu7ZiHZBflvuS4e0Zi9IQSOvFXLuVquzQt/Y7hQwqt1p1z37uIckw9R5h35W8AFb7F036rfh1yrkqt3cHczlQcWIWYRaYy3ypj6xi8VXjbJPEPbN6TeKRO+o1NmmZ1HhRvzP6C2AoKt0/v2PHwVt/zC5m8oYEqiA1S+x9SG23jWVjDUCo7abvLyxnHth24QdzAmgz5Hh6EiGbPZSibiJzI8+8Vsw1SesaGbOQR2Lpt2VDHFhrpi0QohuH1CUL6EnL7SBODOhyTTbIS5p0gdNDpY8uupoadmdQpYVF06EQ2TDIjeN7jpKTqIH6iX9AhGZfjpjQj2DciYl068EoDp0HEarIv+6BxD6o6yfiTqxpZWmAqqGfNbmHjn0abe7FQvJIZSpUuhWd+DjRsBcmRZChPU+CM4FsiVIqnRxxBUHXgsPmWT9ZeTWkACybuUKwrl6POUyvaXK5PrMnTVvHGgaAm4UGCq5ayX9Qi3WFfIibKtWe40L9CZqSTV5EPZFSQ6ZTMApCdedumXx5T/rDCeUIbVCcKBO33ageZ6ZCSd6Q8rtFjaTr0cKX2GweJ5KqGp2Bl4hp+0QJvIaxViU5Et57EqszgoiM8wutKiIboniWkUon+Vk4aDl7wcb3c5kvq82KlpQRpPbz1JhyZ0gXMRFplbB32YFLip8H+rcKcBwl67raT9Ny0RGauPzRXU6udH6J/fRIDc9xGl91LOTZQPODYLzm+juw+cNjstBJ6XVBfeKhYAfRYwARAMiT58VVELEP+1gxBsAedhxx82Y7lAIflnceUXLV5Cl0j9IqO9OO6OLQGyascsFKyN38SvIFag5SU12gPbdGHekI75n812qNJ9QvF+IS917iDVwsLn7bdOMAWhDccseJ0ORSbwZMJlJ0iLrZLcyNojZlk2Dn5kgBr9jKYL95wDGvylMjSYoYq6573+FrVyqJOFs/V7mGGSaGvQQlBRFbrqsn/Br5dQgVepzhhGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NpzacoCQpjg24dxuduXAZP",
      "input": {
        "note": "The wrist view reveals the poodle actually landed on the table just right of the safe (bear and lemon are inside). Opening the jaws and descending toward the poodle to pick it up again.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.46,
          "right_y": 0.18,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NpzacoCQpjg24dxuduXAZP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6083, 1.2831, 1.3148, -1.0405, -0.49, -0.4351, 0.9966, 0.4667, 2.0117, 1.692, -0.8726, 0.2718, 0.0818, 0.9944]\nstate[eef_state]: left_x=0.3027 left_y=-0.1051 left_z=0.2418 left_yaw=0.0448 left_pitch=-0.2769 left_roll=0.156 left_gripper=0.9966 right_x=0.442 right_y=0.1736 right_z=0.1076 right_yaw=0.1358 right_pitch=-0.553 right_roll=-0.2554 right_gripper=0.9944\nstate[joint_eff]: [-0.2256, -4.3282, 6.2974, 1.1746, -0.2906, -0.0415, -0.0122, -0.6906, -12.1231, 6.8034, 1.3651, 0.0806, -0.0659, -0.0611]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 380):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3840aa90d0b11add65dc9dd95adf94d551228ae225db0a64707ec20501fbf096",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 380):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7165c7a8cd190c3ce851c7082571695e27349690c0f9ea6b924a128d8025f086",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 380):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:07ebd33e2692e77cc23662b4fb53cf64819bcbadb65a0663c12c6a9a5dd4e408",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 38 attempt 0 · /messages · status 200 · 5.349 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6113, 1.2781, 1.3193, -1.0279, -0.5041, -0.437, 0.9963, 0.2672, 1.1458, 1.2171, -1.0916, 0.1894, -0.0643, 0.999]\nstate[eef_state]: left_x=0.305 left_y=-0.1052 left_z=0.2475 left_yaw=0.0494 left_pitch=-0.252 left_roll=0.1504 left_gripper=0.9963 right_x=0.2766 right_y=0.045 right_z=0.2224 right_yaw=0.123 right_pitch=-0.421 right_roll=-0.2079 right_gripper=0.999\nstate[joint_eff]: [0.1983, -5.053, 6.0513, 1.4823, -0.1294, 0.1538, 0.0904, -0.0889, -3.1111, 6.2701, 1.3553, 0.022, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6083, 1.2827, 1.3148, -1.0397, -0.4934, -0.4351, 0.9965, 0.5438, 2.2726, 2.7651, -1.6012, 0.308, 0.1562, 0.0079]\nstate[eef_state]: left_x=0.303 left_y=-0.1046 left_z=0.2423 left_yaw=0.0471 left_pitch=-0.2742 left_roll=0.1577 left_gripper=0.9965 right_x=0.4402 right_y=0.2078 right_z=0.269 right_yaw=0.1513 right_pitch=-0.4536 right_roll=-0.2174 right_gripper=0.0079\nstate[joint_eff]: [-0.4171, -4.7521, 6.8171, 1.3162, -0.4127, -0.0611, 0.0024, 0.294, -10.7282, 7.3641, 1.3407, 0.3297, 0.1783, 0.7155]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6083, 1.2831, 1.3148, -1.0405, -0.49, -0.4351, 0.9966, 0.4667, 2.0117, 1.692, -0.8726, 0.2718, 0.0818, 0.9944]\nstate[eef_state]: left_x=0.3027 left_y=-0.1051 left_z=0.2418 left_yaw=0.0448 left_pitch=-0.2769 left_roll=0.156 left_gripper=0.9966 right_x=0.442 right_y=0.1736 right_z=0.1076 right_yaw=0.1358 right_pitch=-0.553 right_roll=-0.2554 right_gripper=0.9944\nstate[joint_eff]: [-0.2256, -4.3282, 6.2974, 1.1746, -0.2906, -0.0415, -0.0122, -0.6906, -12.1231, 6.8034, 1.3651, 0.0806, -0.0659, -0.0611]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 380):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3840aa90d0b11add65dc9dd95adf94d551228ae225db0a64707ec20501fbf096",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 380):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7165c7a8cd190c3ce851c7082571695e27349690c0f9ea6b924a128d8025f086",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 380):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07ebd33e2692e77cc23662b4fb53cf64819bcbadb65a0663c12c6a9a5dd4e408",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISjQQKjgEIEhgCKkB0n43PkMYdZq/QwoMu/Bim+u+NT867mL6IqwjSFLzeNSpVzrFn6jHaX/ojsiFDTB+zXax3ZQ5OFPQQYtmiAjXaMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd+AzNUGEgzLQrhRbfuNQorKwUMaDG602MuT3R4eyclwviIwUJi8ws+tSyWiKVK86s1eoDqVtr2Roxz+3jwaC2YdFIlOUw2kDtCetP9NLpLSUAfhKqsCUl2XWjji+szJezjO+TYOZvRbVSoiLOr2FLpaugUwM1XN4M5pfR1XzMwNL3dKdpcOexBz6tJr7BLL8NU4xhPg3HrHLsGgdhESU/PHl2CibcBlzNk4pZ0zK+oBIkUFriH0zN6P5aONt1t/YLThU4K/ua0dAg/wJJVxqdn+ymOmDKLzJ6xZkFkA6I//oi2tOfdnBY71fY9FYRFu5Z/31iFn+ZsY6SD778opwJ/QWyCwoZ9qGXvOWslYiHU5CGTdjQobHbK5LdhAuVAOSDxe8tlD8LNPs/94rzTBuMW5hbClrDrov6eyP4+CjrIrVZT9b3uXYl2B1mpULuJWk2IKWAmH+O1DfUNnrkpGxefu+dPrx6fEYs99ptVCkVgDM0Zr8lNUYLHAaqxdJA54CSoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M79vDw5KDhG3gUDTiJg9rT",
      "input": {
        "note": "Poodle is centred on the jaw column but slightly beyond the fingertips; advancing ~3 cm and descending to table level with the tool upright to straddle it.",
        "targets": {
          "right_pitch": 0,
          "right_x": 0.48,
          "right_y": 0.175,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01M79vDw5KDhG3gUDTiJg9rT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6083, 1.2839, 1.3148, -1.0405, -0.4896, -0.4351, 0.9966, 0.4831, 2.0487, 1.0264, 0.334, 0.4232, -0.0128, 0.9952]\nstate[eef_state]: left_x=0.3028 left_y=-0.1052 left_z=0.2416 left_yaw=0.0447 left_pitch=-0.2777 left_roll=0.1562 left_gripper=0.9966 right_x=0.4739 right_y=0.1707 right_z=0.0219 right_yaw=0.1316 right_pitch=-0.0507 right_roll=-0.2645 right_gripper=0.9952\nstate[joint_eff]: [-0.1026, -4.4103, 6.3111, 1.1795, -0.2759, -0.0415, -0.0073, 0.4718, -7.9795, 5.2855, 1.536, 0.0708, -0.149, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 399):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:820cb0e3a9933f3fea082a4e14751174755c3ce2f809acd044d86f7d39383398",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 399):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e81869da75c96d9a87f8da737ef60e2815b8ed2c770aadeff438ab6fb0200e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 399):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1f832c5a4223ef9c7b206eec3c47cc57206f5ff1ab4a40d91fe3722140e0b3eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /messages · status 200 · 6.735 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6083, 1.2827, 1.3148, -1.0397, -0.4934, -0.4351, 0.9965, 0.5438, 2.2726, 2.7651, -1.6012, 0.308, 0.1562, 0.0079]\nstate[eef_state]: left_x=0.303 left_y=-0.1046 left_z=0.2423 left_yaw=0.0471 left_pitch=-0.2742 left_roll=0.1577 left_gripper=0.9965 right_x=0.4402 right_y=0.2078 right_z=0.269 right_yaw=0.1513 right_pitch=-0.4536 right_roll=-0.2174 right_gripper=0.0079\nstate[joint_eff]: [-0.4171, -4.7521, 6.8171, 1.3162, -0.4127, -0.0611, 0.0024, 0.294, -10.7282, 7.3641, 1.3407, 0.3297, 0.1783, 0.7155]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6083, 1.2831, 1.3148, -1.0405, -0.49, -0.4351, 0.9966, 0.4667, 2.0117, 1.692, -0.8726, 0.2718, 0.0818, 0.9944]\nstate[eef_state]: left_x=0.3027 left_y=-0.1051 left_z=0.2418 left_yaw=0.0448 left_pitch=-0.2769 left_roll=0.156 left_gripper=0.9966 right_x=0.442 right_y=0.1736 right_z=0.1076 right_yaw=0.1358 right_pitch=-0.553 right_roll=-0.2554 right_gripper=0.9944\nstate[joint_eff]: [-0.2256, -4.3282, 6.2974, 1.1746, -0.2906, -0.0415, -0.0122, -0.6906, -12.1231, 6.8034, 1.3651, 0.0806, -0.0659, -0.0611]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6083, 1.2839, 1.3148, -1.0405, -0.4896, -0.4351, 0.9966, 0.4831, 2.0487, 1.0264, 0.334, 0.4232, -0.0128, 0.9952]\nstate[eef_state]: left_x=0.3028 left_y=-0.1052 left_z=0.2416 left_yaw=0.0447 left_pitch=-0.2777 left_roll=0.1562 left_gripper=0.9966 right_x=0.4739 right_y=0.1707 right_z=0.0219 right_yaw=0.1316 right_pitch=-0.0507 right_roll=-0.2645 right_gripper=0.9952\nstate[joint_eff]: [-0.1026, -4.4103, 6.3111, 1.1795, -0.2759, -0.0415, -0.0073, 0.4718, -7.9795, 5.2855, 1.536, 0.0708, -0.149, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 399):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:820cb0e3a9933f3fea082a4e14751174755c3ce2f809acd044d86f7d39383398",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 399):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e81869da75c96d9a87f8da737ef60e2815b8ed2c770aadeff438ab6fb0200e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 399):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f832c5a4223ef9c7b206eec3c47cc57206f5ff1ab4a40d91fe3722140e0b3eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4QMKjgEIEhgCKkCB/4TtwWZ+vTqpO00MTfBrnaA8A3K1msbjTlsE/dpDLHz1wXW+ctY8z3vKDCwztywNlQMiqxqmRfPc45mJR9LrMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeaAzNUGEgytYRKfwrkGRUghl9gaDFqWdZt84TU0vXyw+yIw4VAdm/tbG3YdJ8uE5gkwz34//q+pytzgDX4gPVS0Q4zpY2bG32QWmbUtk9KSzvT4Kv8BkK5VyR37ANY8LtoRMEuvAMrEsJikengNi/7F2tuo2HPpIvYc+vmAZ8IZEQvabTGiAHettQSHw2Nr3COD/vuwN6q/fLKiaiAymTNDrnsE/K5RMbOWbi9umYz7UJRWxt+VYg2i7IdbREmPF1ZgWZDVjj1wZWy3/KU4zNLk+W1YKcGwOE6dTsRdBeAEWQi5UVonmDUdXj2DFYL/O8zsLOlsdqqvVPD3Rv0r3KZJduy7flHmDXLDTdTVbrOWlTqrRF9wNPgYSls8oCpMm4ZcEsBC4qR6zHt1GgrvO/NLkXpsB4yR5EjsCnXj94RpQZxKYILU7oyKqnkZkUb15gKG1ct8GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ESecCDHRBLSih7N1LVabEi",
      "input": {
        "note": "Poodle's fleece fills the jaw area at table level; closing fully to pinch it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01ESecCDHRBLSih7N1LVabEi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6083, 1.2839, 1.3148, -1.0405, -0.4896, -0.4351, 0.9969, 0.485, 2.0533, 1.021, 0.3416, 0.4011, -0.0147, 0.5034]\nstate[eef_state]: left_x=0.3028 left_y=-0.1052 left_z=0.2416 left_yaw=0.0447 left_pitch=-0.2777 left_roll=0.1562 left_gripper=0.9969 right_x=0.4721 right_y=0.1749 right_z=0.0182 right_yaw=0.1523 right_pitch=-0.0579 right_roll=-0.2536 right_gripper=0.5034\nstate[joint_eff]: [-0.1026, -4.3829, 6.2974, 1.2137, -0.2857, -0.0659, 0.022, -0.5128, -10.7419, 5.7915, 1.4823, 0.3053, -0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 409):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3bd472729aefb3eae56100b1814729e98b24e9f56b5bcc0bbcae859dd7de39c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 409):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c79928018a8fb651b8bfb9b5b26155277930d3a7916b56a63ecc3b45c7bd9b90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 409):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aae1ec1fe7adf7025cb7739fbfbf804d6bff98cd0c6c1cc631b4284bbe437f66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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